CANopen Manual - Motor Power · CANopen Manual Servo positioning controller DIS-2 Metronix Meßgeräte und Elektronik GmbH Phone: +49-(0)531-8668-0 Kocherstraße 3 Fax: +49-(0)531-8668-555

CANopen Manual

Servo positioning controller DIS-2

Metronix Meßgeräte und Elektronik GmbH Phone: +49-(0)531-8668-0 Kocherstraße 3 Fax: +49-(0)531-8668-555

D-38120 Braunschweig E-mail: [email protected]

Germany http://www.metronix.de

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Revision log

Authors: Metronix Meßgeräte und Elektronik GmbH

Name of manual: CANopen Manual

Filename: CANopen_Manual_DIS-2_1p1.doc

No. Description Revisions-index

Date of revision

001 Prerelease 0.1 26.09.2003

002 1. Version 1.0 19.12.2003

003 Translation 1.0 12-28-2005

004 Adjustments 1.1 2006-06-29

CANopen Manual ”Servo positioning controller DIS-2” Version 1.1

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Table of contents

1 General Terms..................................................................................................................... 8 1.1 Documentation ........................................................................................................................................8 1.2 CANopen ................................................................................................................................................8

2 Safety Notes for electrical drives and controls ................................................................. 10 2.1 Symbols and signs.................................................................................................................................10 2.2 General notes ........................................................................................................................................11 2.3 Danger resulting from misuse ...............................................................................................................12 2.4 Safety notes ...........................................................................................................................................13

2.4.1 General safety notes......................................................................................................................13 2.4.2 Safety notes for assembly and maintenance .................................................................................14 2.4.3 Protection against contact with electrical parts.............................................................................15 2.4.4 Protection against electrical shock by means of protective extra-low voltage (PELV)................16 2.4.5 Protection against dangerous movements.....................................................................................17 2.4.6 Protection against contact with hot parts ......................................................................................18 2.4.7 Protection during handling and assembly.....................................................................................18

3 Cabling and pin asignment................................................................................................ 20 3.1 Pin assignment ......................................................................................................................................20 3.2 Cabling notes ........................................................................................................................................21

4 Activation of CANopen .................................................................................................... 22 4.1 Survey ...................................................................................................................................................22

5 Acces methods .................................................................................................................. 24 5.1 Survey ...................................................................................................................................................24 5.2 Access by SDO .....................................................................................................................................25

5.2.1 SDO sequences to read or write parameters .................................................................................25 5.2.2 SDO-error messages .....................................................................................................................27

5.3 PDO-Message .......................................................................................................................................28 5.3.1 Description of objects...................................................................................................................29 5.3.2 Objects for parameterising PDOs .................................................................................................32 5.3.3 Activation of PDOs ......................................................................................................................36

5.4 SYNC-Message.....................................................................................................................................36 5.5 EMERGENCY-Message.......................................................................................................................37

5.5.1 Structure of an EMERGENCY message ......................................................................................37 5.5.2 Description of Objects ..................................................................................................................38

5.5.2.1 Object 1003h: pre_defined_error_field ................................................................................................38 5.6 Heartbeat / Bootup (Error Control Protocol) ........................................................................................40

5.6.1 Structure of the heartbeat message ...............................................................................................40 5.6.2 Structure of the Bootup message ..................................................................................................40 5.6.3 Objects ..........................................................................................................................................41

5.6.3.1 Object 1017h: producer_heartbeat_time ..............................................................................................41 5.7 Network management (NMT service)...................................................................................................41 5.8 Table of identifiers ................................................................................................................................43

6 Adjustment of parameters ................................................................................................. 44


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6.1 Load and save set of parameters ...........................................................................................................44 6.1.1 Survey...........................................................................................................................................44 6.1.2 Description of Objects ..................................................................................................................46

6.1.2.1 Object 1011h: restore_default_parameters ...........................................................................................46 6.1.2.2 Object 1010h: store_parameters ...........................................................................................................47

6.2 Conversion factors (Factor Group) .......................................................................................................48 6.2.1 Survey...........................................................................................................................................48 6.2.2 Description of Objects ..................................................................................................................49

6.2.2.1 Objects treated in this chapter..............................................................................................................49 6.2.2.2 Object 6093h: position_factor..............................................................................................................49 6.2.2.3 Object 6094h: velocity_encoder_factor ...............................................................................................52 6.2.2.4 Object 6097h: acceleration_factor .......................................................................................................54 6.2.2.5 Object 607Eh: polarity .........................................................................................................................56

6.3 Power stage parameters.........................................................................................................................57 6.3.1 Survey...........................................................................................................................................57 6.3.2 Description of Objects ..................................................................................................................57

6.3.2.1 Object 6510h_10h: enable_logic...........................................................................................................57 6.4 Current control and motor adaptation ...................................................................................................58

6.4.1 Survey...........................................................................................................................................58 6.4.2 Description of Objects ..................................................................................................................59

6.4.2.1 Object 6075h: motor_rated_current .....................................................................................................59 6.4.2.2 Object 6073h: max_current..................................................................................................................60 6.4.2.3 Object 604Dh: pole_number ................................................................................................................60 6.4.2.4 Object 6410h_03h: iit_time_motor ......................................................................................................61 6.4.2.5 Object 6410h_04h: iit_ratio_motor ......................................................................................................61 6.4.2.6 Object 6410h_10h: phase_order...........................................................................................................61 6.4.2.7 Object 6410h_11h: encoder_offset_angle .............................................................................................62 6.4.2.8 Object 2415h: current_limitation .........................................................................................................63 6.4.2.9 Object 60F6h: torque_control_parameters ...........................................................................................64

6.5 Velocity controller ................................................................................................................................65 6.5.1 Survey...........................................................................................................................................65 6.5.2 Description of Objects ..................................................................................................................65

6.5.2.1 Object 60F9h: velocity_control_parameters ........................................................................................65 6.6 Position Control Function .....................................................................................................................67


6.6.2.1 Objects treated in this chapter..............................................................................................................69 6.6.2.2 Affected objects from other chapters ...................................................................................................70 6.6.2.3 Object 60FBh: position_control_parameter_set...................................................................................70 6.6.2.4 Object 6062h: position_demand_value ................................................................................................72 6.6.2.5 Objekt 6064h: position_actual_value...................................................................................................72 6.6.2.6 Object 6065h: following_error_window ..............................................................................................73 6.6.2.7 Object 6066h: following_error_time_out.............................................................................................73 6.6.2.8 Object 60FAh: control_effort...............................................................................................................74 6.6.2.9 Object 6067h: position_window ..........................................................................................................74 6.6.2.10 Object 6068h: position_window_time ................................................................................................75

6.7 Analogue inputs ....................................................................................................................................76 6.7.1 Survey...........................................................................................................................................76

6.8 Digital In- and Outputs .........................................................................................................................76 6.8.1 Survey...........................................................................................................................................76 6.8.2 Description of Objects ..................................................................................................................76

6.8.2.1 Object 60FDh: digital_inputs ...............................................................................................................76


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6.8.2.2 Object 60FEh: digital_outputs .............................................................................................................77 6.9 Limit switches .......................................................................................................................................78


6.9.2.1 Object 6510h_11h: limit_switch_polarity ............................................................................................78 6.9.2.2 Object 6510h_15h: limit_switch_deceleration .....................................................................................79

6.10 Device informations ..............................................................................................................................80 6.10.1 Description of Objects..........................................................................................................80

6.10.1.1 Object 1018h: identity_object .............................................................................................................80 6.10.1.2 Object 6510h_A1h: drive_type............................................................................................................82 6.10.1.3 Object 6510h_A9h: firmware_main_version.......................................................................................82 6.10.1.4 Object 6510h_AAh: firmware_custom_version...................................................................................82

7 Device Control .................................................................................................................. 83 7.1 State diagram (State machine)...............................................................................................................83

7.1.1 Survey...........................................................................................................................................83 7.1.2 The state diagram of the servo controller .....................................................................................84

7.1.2.1 State diagram: States............................................................................................................................86 7.1.2.2 State diagram: State transitions............................................................................................................86

7.1.3 controlword...................................................................................................................................88 7.1.3.1 Object 6040h: controlword ..................................................................................................................88

7.1.4 Reading the status of the servo controller.....................................................................................91 7.1.5 statusword.....................................................................................................................................92

7.1.5.1 Object 6041h: statusword.....................................................................................................................92 8 Operating Modes............................................................................................................... 95

8.1 Adjustment of the Operating Mode.......................................................................................................95 8.1.1 Survey...........................................................................................................................................95 8.1.2 Description of Objects ..................................................................................................................95

8.1.2.1 Objects treated in this chapter..............................................................................................................95 8.1.2.2 Object 6060h: modes_of_operation .....................................................................................................96 8.1.2.3 Object 6061h: modes_of_operation_display ........................................................................................97

8.2 Operating Mode »Homing mode« ........................................................................................................98 8.2.1 Survey...........................................................................................................................................98 8.2.2 Description of Objects ..................................................................................................................99

8.2.2.1 Objects treated in this chapter..............................................................................................................99 8.2.2.2 Affected objects from other chapters ...................................................................................................99 8.2.2.3 Object 607Ch: home_offset .................................................................................................................99 8.2.2.4 Object 6098h: homing_method..........................................................................................................100 8.2.2.5 Object 6099h: homing_speeds ...........................................................................................................100 8.2.2.6 Object 609Ah: homing_acceleration..................................................................................................102

8.2.3 Homing sequences......................................................................................................................103 8.2.3.1 Method 1: Negative limit switch using zero impulse evaluation .......................................................103 8.2.3.2 Method 2: Positive limit switch using zero impulse evaluation.........................................................103 8.2.3.3 Method 17: Homing operation to the negative limit switch...............................................................104 8.2.3.4 Method 18: Homing operation to the positive limit switch................................................................104 8.2.3.5 Method -1: Negative stop evaluating the zero impulse......................................................................105 8.2.3.6 Method -2: Positive stop evaluating the zero impulse .......................................................................105 8.2.3.7 Methods 33 and 34: Homing operation to the zero impulse ..............................................................106 8.2.3.8 Method 35: Homing operation to the current position .......................................................................106

8.2.4 Control of the homing operation.................................................................................................106 8.3 Operating Mode »Profile Position Mode« ..........................................................................................107

8.3.1 Survey.........................................................................................................................................107


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8.3.2 Description of Objects ................................................................................................................108 8.3.2.1 Objects treated in this chapter............................................................................................................108 8.3.2.2 Affected objects from other chapters .................................................................................................109 8.3.2.3 Object 607Ah: target_position ...........................................................................................................109 8.3.2.4 Object 6081h: profile_velocity ..........................................................................................................110 8.3.2.5 Object 6082h: end_velocity ...............................................................................................................110 8.3.2.6 Object 6083h: profile_acceleration ....................................................................................................111 8.3.2.7 Object 6084h: profile_deceleration....................................................................................................111 8.3.2.8 Object 6085h: quick_stop_deceleration .............................................................................................112 8.3.2.9 Object 6086h: motion_profile_type ...................................................................................................112

8.3.3 Functional Description ...............................................................................................................113 8.4 Interpolated Position Mode.................................................................................................................115

8.4.1 Survey.........................................................................................................................................115 8.4.2 Description of Objects ................................................................................................................116

8.4.2.1 Objects treated in this chapter............................................................................................................116 8.4.2.2 Affected objects of other chapters .....................................................................................................116 8.4.2.3 Object 60C0h: interpolation_submode_select ....................................................................................116 8.4.2.4 Object 60C1h: interpolation_data_record...........................................................................................117 8.4.2.5 Object 60C2h: interpolation_time_period ..........................................................................................118 8.4.2.6 Object 60C4h: interpolation_data_configuration ...............................................................................118

8.4.3 Functional Description ...............................................................................................................121 8.4.3.1 Preliminary parameterisation .............................................................................................................121 8.4.3.2 Activation of the Interpolated Position Mode and first synchronisation............................................121 8.4.3.3 Interruption of interpolation in case of an error. ................................................................................123

8.5 Profile Velocity Mode.........................................................................................................................124 8.5.1 Survey.........................................................................................................................................124 8.5.2 Description of Objects ................................................................................................................125

8.5.2.1 Objects treated in this chapter............................................................................................................125 8.5.2.2 Affected objects from other chapters .................................................................................................126 8.5.2.3 Object 6069h: velocity_sensor_actual_value.....................................................................................126 8.5.2.4 Object 606Bh: velocity_demand_value .............................................................................................126 8.5.2.5 velocity_actual_value ........................................................................................................................127 8.5.2.6 Object 6080h: max_motor_speed.......................................................................................................128 8.5.2.7 Object 60FFh: target_velocity............................................................................................................128

8.5.3 Object: Speed-Ramps .................................................................................................................128 8.5.3.1 Object 2090h: velocity_ramps............................................................................................................129

8.6 Profile Torque Mode...........................................................................................................................131 8.6.1 Survey.........................................................................................................................................131 8.6.2 Description of Objects ................................................................................................................132

8.6.2.1 Objects treated in this chapter............................................................................................................132 8.6.2.2 Affected objects from other chapters .................................................................................................132 8.6.2.3 Object 6071h: target_torque...............................................................................................................132 8.6.2.4 Object 6072h: max_torque.................................................................................................................133 8.6.2.5 Object 6074h: torque_demand_value.................................................................................................133 8.6.2.6 Object 6076h: motor_rated_torque ....................................................................................................134 8.6.2.7 Object 6077h: torque_actual_value ....................................................................................................134 8.6.2.8 Object 6078h: current_actual_value...................................................................................................135 8.6.2.9 Object 6079h: dc_link_circuit_voltage ..............................................................................................135

9 Keyword index ................................................................................................................ 136


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Table of Figures

Figure 3.1: DIS-2 connector 20 Figure 3.2: Cabling (schematically) 21 Figgure 5.3: NMT-State machine 42 Figure 6.4: Survey: Factor Group 49 Figure 6.5: Trailing error (Following Error) – Function Survey 67 Figure 6.6: Trailing error (following error) 68 Figure 6.7: Position Reached – Function Survey 68 Figure 6.8: Position reached 69 Figure 7.9: State diagram of the servo controller 84 Figure 7.10: Most important state transitions 85 Figure 8.1: Homing Mode 98 Figure 8.2: Home Offset 99 Figure 8.3: Homing operation to the negative limit switch including evaluation of the zero impulse 103 Figure 8.4: Homing operation to the positive limit switch including evaluation of the zero impulse 103 Figure 8.5: Homing operation to the negative limit switch 104 Figure 8.6: Homing operation to the positive limit switch 104 Figure 8.7: Homing operation to the negative stop evaluating the zero impulse 105 Figure 8.8: Homing operation to the positive stop evaluating the zero impulse 105 Figure 8.9: Homing operation only referring to the zero impulse 106 Figure 8.10: Trajectory generator and position controller 107 Figure 8.11: The trajectory generator 108 Figure 8.12: Positioning job transfer from a host 113 Figure 8.13: Simple positioning job 114 Figure 8.14: Gapless sequence of positioning jobs 114 Figure 8.15: Linear interpolation between two positions 115 Figure 8.16: IP-Activation and data processing 122 Figure 8.17: Structure of the Profile Velocity Mode 125 Figure 8.18: Relation of the ramps 129 Figure 8.19: Bedeutung der Velocity_ramps 129 Figure 8.20: Structure of the Profile Torque Mode 131


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1 General Terms

1.1 Documentation This manual describes how to parametrize and control the servo positioning controller DIS-2 using the standardised protocol CANopen. The adjustment of the physical parameters, the activation of the CANopen protocol, the embedding into a CAN network and the communication with the controller will be explained.

It is intended for persons who are already well versed with the servo positioning controller DIS-2.

It contains safety notes that have to be noticed.

For more information, please refer to the manual of the servo positioning controller DIS-2.

1.2 CANopen

CANopen is a standard established by the association ”CAN in Automation". A great number of device manufacturers are organised in this association. This standard has replaced most of all manufacturer-specific CAN protocols.

So a manufacturer independent communication interface is available for the user:

The following manual are available by this accociation:

CiA Draft Standard 201...207: In these standards the general network administration and the transfer of objects are determined. This book is rather comprehensive. The relevant aspects are treated in the CANopen manual in hand so that it is not necessary in general to acquire the DS201..207.

CiA Draft Standard 301: In this standard the basic structure of the object dictionary of a CANopen device and the access to this directory are described. Besides this the statements made in the DS201..207 are described in detail. The elements needed for the servo positioning controller DIS-2 of the object directory and the access methods which belong to them are described in the present manual. It is advisable to acquire the DS301 but not necessary.

CiA Draft Standard 402: This standard describes the concrete implementation of CANopen in servo controllers. Though all implemented objects are also briefly documented and described in this CANopen manual the user should own this book.


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Order address

CAN in Automation (CiA) International Headquarter Am Weichselgarten 26 D-91058 Erlangen Tel. +49-09131-601091 Fax: +49-09131-601092 www.can-cia.de


http://www.can-cia.de/

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2 Safety Notes for electrical drives and controls

2.1 Symbols and signs

Information Important informations and notes.

Caution! The nonobservance can result in high property damage.

DANGER! The nonobservance can result in property damages and in injuries to persons.

Caution! High voltage. The note on safety contains a reference to a possibly occurring life dangerous voltage.

The parts of this document marked with this sign should give examples to make it easier to understand the use of single objecs and parameters.


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2.2 General notes

In the case of damage resulting from non-compliance of the safety notes in this manual Metronix will assume any liability.

Prior to the initial use you must read the chapters Safety Notes for electrical drives and controls starting on page 10

If the documentation in the language at hand is not understood accurately, please contact and inform your supplier.

Sound and safe operation of the servo drive controller requires proper and professional transportation, storage, assembly and installation as well as proper operation and maintenance. Only trained and qualified personnel may handle electrical devices:

TRAINED AND QUALIFIED PERSONNEL

in the sense of this product manual or the safety notes on the product itself are persons who are sufficiently familiar with the setup, assembly, commissioning and operation of the product as well as all warnings and precautions as per the instructions in this manual and who are sufficiently qualified in their field of expertise:

Education and instruction or authorisation to switch devices/systems on and off and to ground them as per the standards of safety engineering and to efficiently label them as per the job demands.

Education and instruction as per the standards of safety engineering regarding the maintenance and use of adequate safety equipment.

First aid training.

The following notes must be read prior to the initial operation of the system to prevent personal injuries and/or property damages:

These safety notes must be complied with at all times.

These safety instructions and all other user notes must be read prior to any work with the servo drive controller.

If you sell, rent and/or otherwise make this device available to others, these safety notes must also be included.

The user must not open the servo drive controller for safety and warranty reasons.

Professional control process design is a prerequisite for sound functioning of the servo drive controller!


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DANGER!

Inappropriate handling of the servo drive controller and non-compliance of the warnings as well as inappropriate intervention in the safety features may result in property damage, personal injuries, electric shock or in extreme cases even death.

2.3 Danger resulting from misuse

DANGER!

High electrical voltages and high load currents!

Danger to life or serious personal injury from electrical shock!

DANGER!

High electrical voltage caused by wrong connections!

Danger to life or serious personal injury from electrical shock!

DANGER!

Surfaces of device housing may be hot!

Risk of injury! Risk of burning!

DANGER!

Dangerous movements!

Danger to life, serious personal injury or property damage due to unintentional movements of the motors!


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2.4 Safety notes

2.4.1 General safety notes

The servo drive controller corresponds to IP40..IP65 class of protection as well as pollution level 1. Make sure that the environment corresponds to this class of protection and pollution level.

Only use replacements parts and accessories approved by the manufacturer.

The servo positioning controller must be connected to the mains supply as per EN regulations, so that they can be cut off the mains supply by means of corresponding separation devices (e.g. main switch, contactor, power switch).

The safety rules and regulations of the country in which the device will be operated must be complied with.

The environment conditions defined in the operating instructions must be kept. Safety-critical applications are not allowed, unless specifically approved by the manufacturer.

For notes on installation corresponding to EMC, please refer to the operating instructions. The compliance with the limits required by national regulations is the responsibility of the manufacturer of the machine or system.

The technical data and the connection and installation conditions for the servo drive controller are to be found in this product manual and must be met.

DANGER!

The general setup and safety regulations for work on power installations (e.g. DIN, VDE, EN, IEC or other national and international regulations) must be complied with.

Non-compliance may result in death, personal injury or serious property damages.

Without claiming completeness, the following regulations and others apply:

VDE 0100 Regulations for the installation of high voltage (up to 1000 V) devices

EN 60204 Electrical equipment of machines

EN 50178 Electronic equipment for use in power installations


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2.4.2 Safety notes for assembly and maintenance The appropriate DIN, VDE, EN and IEC regulations as well as all national and local safety regulations and rules for the prevention of accidents apply for the assembly and maintenance of the system. The plant engineer or the operator is responsible for compliance with these regulations:

The servo drive controller must only be operated, maintained and/or repaired by personnel trained and qualified for working on or with electrical devices.

Prevention of accidents, injuries and/or damages: Additionally secure vertical axes against falling down or lowering after the motor has been switched off, e.g. by means of:

Mechanical locking of the vertical axle,

External braking, catching or clamping devices or

Sufficient balancing of the axle.

The motor holding brake supplied by default or an external motor holding brake driven by the drive controller alone is not suitable for personal protection!

Render the electrical equipment voltage-free using the main switch and protect it from being switched on again until the DC bus circuit is discharged, in the case of:

Maintenance and repair work

Cleaning

long machine shutdowns

Prior to carrying out maintenance work make sure that the power supply has been turned off, locked and the DC bus circuit is discharged.

Be careful during the assembly. During the assembly and also later during operation of the drive, make sure to prevent drill chips, metal dust or assembly parts (screws, nuts, cable sections) from falling into the device.

Also make sure that the external power supply of the controller (24V) is switched off.

The DC bus circuit must always be switched off prior to switching off the 24V controller supply.

Carry out work in the machine area only, if AC and/or DC supplies are switched off. Switched off output stages or controller enablings are no suitable means of locking. In the case of a malfunction the drive may accidentally be put into action.

Initial operation must be carried out with idle motors, to prevent mechanical damages e.g. due to the wrong direction of rotation.


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Electronic devices are never fail-safe. It is the user’s responsibility, in the case an electrical device fails, to make sure the system is transferred into a secure state.

The servo drive controller and in particular the brake resistor, externally or internally, can assume high temperatures, which may cause serious burns.

2.4.3 Protection against contact with electrical parts

This section only concerns devices and drive components carrying voltages exceeding 50 V. Contact with parts carrying voltages of more than 50 V can be dangerous for people and may cause electrical shock. During operation of electrical devices some parts of these devices will inevitably carry dangerous voltages.

DANGER!

High electrical voltage!

Danger to life, danger due to electrical shock or serious personal injury!

The appropriate DIN, VDE, EN and IEC regulations as well as all national and local safety regulations and rules for the prevention of accidents apply for the assembly and maintenance of the system. The plant engineer or the operator is responsible for compliance with these regulations:


Seite 16

Before switching on the device, install the appropriate covers and protections against accidental contact. Rack-mounted devices must be protected against accidental contact by means of a housing, e.g. a switch cabinet. The regulations VBG 4 must be complied with!

Always connect the ground conductor of the electrical equipment and devices securely to the mains supply.

Comply with the minimum copper cross-section for the ground conductor over its entire length as per EN60617!

Prior to the initial operation, even for short measuring or testing purposes, always connect the ground conductor of all electrical devices as per the terminal diagram or connect it to the ground wire. Otherwise the housing may carry high voltages which can cause electrical shock.

Do not touch electrical connections of the components when switched on.

Prior to accessing electrical parts carrying voltages exceeding 50 Volts, disconnect the device from the mains or power supply. Protect it from being switched on again.

For the installation the amount of DC bus voltage must be considered, particularly regarding insulation and protective measures. Ensure proper grounding, wire dimensioning and corresponding short-circuit protection.

2.4.4 Protection against electrical shock by means of protective extra-low voltage (PELV)

All connections and terminals with voltages between 5 and 50 Volts at the servo drive controller are protective extra-low voltage, which are designed safe from contact in correspondence with the following standards:

International: IEC 60364-4-41

European countries within the EU: EN 50178/1998, section 5.2.8.1.

DANGER!

High electrical voltages due to wrong connections!

Danger to life, risk of injury due to electrical shock!


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Only devices and electrical components and wires with a protective extra low voltage (PELV) may be connected to connectors and terminals with voltages between 0 to 50 Volts.

Only connect voltages and circuits with protection against dangerous voltages. Such protection may be achieved by means of isolation transformers, safe optocouplers or battery operation.

2.4.5 Protection against dangerous movements

Dangerous movements can be caused by faulty control of connected motors, for different reasons:

Improper or faulty wiring or cabling

Error in handling of components

Error in sensor or transducer

Defective or non-EMC-compliant components

Error in software in superordinated control system

These errors can occur directly after switching on the device or after an indeterminate time of operation.

The monitors in the drive components for the most part rule out malfunctions in the connected drives. In view of personal protection, particularly the danger of personal injury and/or property damage, this may not be relied on exclusively. Until the built-in monitors come into effect, faulty drive movements must be taken into account; their magnitude depends on the type of control and on the operating state.

DANGER!

Dangerous movements!

Danger to life, risk of injury, serious personal injuries or property damage!

For the reasons mentioned above, personal protection must be ensured by means of monitoring or superordinated measures on the device. These are installed in accordance with the specific data of the system and a danger and error analysis by the manufacturer. The safety regulations applying to the system are also taken into consideration. Random movements or other malfunctions may be caused by switching the safety installations off, by bypassing them or by not activating them.


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2.4.6 Protection against contact with hot parts

DANGER!

Housing surfaces may be hot!

Risk of injury! Risk of burning!

Do not touch housing surfaces in the vicinity of heat sources! Danger of burning!

Before accessing devices let them cool down for 10 minutes after switching them off.

Touching hot parts of the equipment such as the housing, which contain heat sinks and resistors, may cause burns!

2.4.7 Protection during handling and assembly

Handling and assembly of certain parts and components in an unsuitable manner may under adverse conditions cause injuries.

DANGER!

Risk of injury due to improper handling!

Personal injury due to pinching, shearing, cutting, crushing!

The following general safety notes apply:

Comply with the general setup and safety regulations on handling and assembly.

Use suitable assembly and transportation devices.

Prevent incarcerations and contusions by means of suitable protective measures.

Use suitable tools only. If specified, use special tools.


Seite 19

Use lifting devices and tools appropriately.

If necessary, use suitable protective equipment (e.g. goggles, protective footwear, protective gloves).

Do not stand underneath hanging loads.

Remove leaking liquids on the floor immediately to prevent slipping.


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3 Cabling and pin asignment

3.1 Pin assignment At the DIS-2 the CAN interface is already integrated in the device and therefore always available. Dependend of the typ of hardware the CAN-bus can be found on different connectors. Additinall alternative modes for the analog and digital inputs are given cause of double layout of pins. For proper use of the CAN-bus it is recommended to do the according parameterization of the hardware. More details can be found in the user manuals for the DIS-2.

8 234567 1

16 101112131415 9

DIN9

AIN1,DIN2,

DOUT1X1_RXD

DIN8

AIN0,DIN0

CANHI,DIN4

UZK

DOUT0

0 V

DIN7

+24V

AMON0,DIN6

X1_TXD #AIN1,DIN3,

DOUT2

CANLO,DIN5

#AIN0,DIN1

Figure 3.1: DIS-2 connector

CAN bus cabling Please respect carefully the following information and notes for the cabling of the controller to get a stable and undisturbed communication system. A non professional cabling can cause malfunctions of the CAN bus which hence the controller to shutdown with an error.

120Ω Termination resistor No termination resistor is integrated in the servo positioning controller DIS-2


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3.2 Cabling notes The CAN bus offers an easy and safe way to connect all parts of a plant. As condition all following instructions have to be respected carefully.

Figure 3.2: Cabling (schematically)

• All nodes of a network are principally connected in series, so that the CAN cable is looped through all controllers (see Figure 3.2).

• The two ends of the CAN cable have to be terminated by a resistor of 120Ω +/- 5%. Please note that such a resistor is often already installed in CAN cards or the PLC.

• It is recommended to ommit additional connectors inside the CAN cable. If this is not possible please use mettalized connector housings connected to the shield.

• For less noise injection principally never place motor cables parallel to signal cables. use only motor cables specified by METRONIX. shield and earth motor cables correctly.

• For further information refer to the Controller Area Network protocol specification, Ver. 2.0, Robert Bosch GmbH, 1991.

• Technical data CAN bus cable:

2 twisted pairs, d ≥ 0,22 mm2

shielded loop resistance < 0,2 Ω/m char. impedance 100-120 Ω

In this application no GND is used for connecting the slaves because of the same supply potential used also for the DC-Bus. The shield is connected on both sides to the housing (PE).


Seite 22

4 Activation of CANopen

4.1 Survey The activation of CANopen is done one-time using the serial interface of the servo controller. The CAN protocoll can be activated in the window „CANopen“ of the Metronix ServoCommander.

There have to be set three parameters:

• Basic Node Number

For unmistakable identification each user within the network has to have an unique node number. The node number is used to address the device. As an option it is possible to calculate the node number dependent of the plug-in location of the servo positioning controller. Therefore once after reset the combination of digital inputs DIN0 .. DIN3 dependend from the selection done in the evaluation of AIN/DIN in menu Digital inputs.

• Baudrate This parameter determines the used baudrate in kBaud. Please note that high baudrates can only be achieved with short cable length.

Cabel length Baudrate (kBaud) < 100 m 500 < 250 m 250 < 500 m 125


Seite 23

• Activation of CANopen

In this field the CAN communication can be enabled. For changing parameters the CAN communication needs to be inactive.

Please note that the activation of CANopen will only be available after a reset if the parameter set has been saved.


Seite 24

5 Acces methods

5.1 Survey

CANopen offers an easy and standardised way to access all parameters of the servo controller (e.g. the maximum current). To achieve a clear arrangement an unique index and subindex is assigned to every parameter (CAN object). The parameters altogether form the so called object dictionary.

The object dictionary can be accessed via CAN bus in primarily two ways: A confirmed access with so called SDOs and a unconfirmed access using so called PDOs with no hand-shake. As a rule the servo controller will be parametrized and controlled by SDOs. Additional types of messages (so called Communication Objects, COB) are defined for special applications. They will be sent either by the superimposed control or the servo controller:

SDO Service Data Object Used for normal parametrization of the servo controller

PDO Process Data Object

Fast exchange of process data (e.g. velocity actual value) possible.

SYNC Synchronization Message

Synchronisation of several CAN nodes.

EMCY Emergency Message

Used to transmit error messages of the servo controller.

NMT Network Management

Used for network services. For example the user can act on all controllers at the same time via this object type.

HEARTBEAT Error Control Protocol

Used for observing all nodes by cyclic messages.

Every message sent via CAN bus contains an address to identify the node the message is meant for. This address is called Identifier. The lower the identifier, the higher the priority. Each communication object mentioned above has a specific identifier.


Seite 25

The following figure shows the schematic structure of a CANopen message:

Number of Databytes (here 8)

Databytes 0...7

601h Len D0 D1 D2 D3 D4 D5 D6 D7

Identifier

5.2 Access by SDO The object dictionary can be accessed with Service Data Objects (SDO). This access is particularly easy and clear. Therefore it is recommended to base the application on SDOs first and later adapt some accesses to the certainly faster but more complicated Process Data Objects (PDOs). SDO accesses always start from the superimposed control (host). The host sends a write request to change a parameter or a read request to get a parameter from the servo controller. Every request will be answered by the servo controller either sending the requested parameter or confirming the write request. Every command has to be sent with a definite identifier so that the servo controller knows what command is intended for it. This identifier is composed of the base 600h + node number of the corresponding servo controller. The servo controller answers with identifier 580h + node number. The structure of the writing and reading sequences depends on the data type as 1, 2 or 4 data bytes have to be sent or received. The following data types will be supported:

UINT8 8 bit value, unsigned 0 ... 255 INT8 8 bit value, signed -128 ... 127 UINT16 16 bit value, unsigned 0 ... 65535 INT16 16 bit value, signed -32768 ... 32767 UINT32 32 bit value, unsigned 0 ... (232-1) INT32 32 bit value, signed -(231) ... (231-1)

5.2.1 SDO sequences to read or write parameters Following sequences have to be used to read or write can objects of mentioned type. Commands to write a value into the servo controller start with a different token depending on the parameters data type, whereas the first token of the answer is always the same. For commands to read parameters its vice versa: They always start with the same token, whereas the answer of the servo controller starts with a token depending on the parameters data type. For all numerical values the hexadecimal notation is used.


Seite 26

Read commands Write commands Low-Byte of main index (hex)

High-Byte of main index (hex)

UINT8 / INT8

Subindex (hex) Token for 8 Bit

Command 40h IX0 IX1 SU 2Fh IX0 IX1 SU DO

Answer 4Fh IX0 IX1 SU D0 60h IX0 IX1 SU

UINT16 / INT16 Token for 8 Bit Token for 16 Bit

Command 40h IX0 IX1 SU 2Bh IX0 IX1 SU DO D1

Answer 4Bh IX0 IX1 SU D0 D1 60h IX0 IX1 SU

UINT32 / INT32 Token for 16 Bit Token for 32 Bit

Command 40h IX0 IX1 SU 23h IX0 IX1 SU DO D1 D2 D3

Answer 43h IX0 IX1 SU D0 D1 D2 D3 60h IX0 IX1 SU

Token for 32 Bit

EXAMPLE

UINT8 / INT8 Reading of Obj. 6061_00h

Returning data: 01h Writing of Obj. 1401_02h

Data: EFh

Command: 40h 61h 60h 00h 2Fh 01h 14h 02h EFh

Answer: 4Fh 61h 60h 00h 01h 60h 01h 14h 02h

UINT16 / INT16 Reading of Obj. 6041_00h Returning data: 1234h

Writing of Obj. 6040_00h Data: 03E8h

Command: 40h 41h 60h 00h 2Bh 40h 60h 00h E8h 03h

Answer: 4Bh 41h 60h 00h 34h 12h 60h 40h 60h 00h

UINT32 / INT32 Reading of Obj. 6093_01h Returning data: 12345678h

Writing of Obj. 6093_01h Data: 12345678h

Command: 40h 93h 60h 01h 23h 93h 60h 01h 78h 56h 34h 12h

Answer: 43h 93h 60h 01h 78h 56h 34h 12h 60h 93h 60h 01h

Always wait for the acknowledge of the controller ! Only if a request has been acknowledged by the controller it is allowed to send the next request.


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5.2.2 SDO-error messages If an error occurs reading or writing an object (e.g. because the value is out of range) the servo controller answers with an error message instead of the normal answer:

Command: ... IX0 IX1 SU ... ... ... ...

Answer: 80h IX0 IX1 SU F0 F1 F2 F3

Error token Error code (4 Byte)

Error code F3 F2 F1 F0

Description

06 01 00 00h Unsupported access to an object

06 02 00 00h Object does not exist in the object dictionary

06 04 00 41h Object cannot be mapped to the PDO

06 04 00 42h The number and length of the objects to be mapped would exceed PDO length

06 07 00 10h Data type does not match, length of service parameter does not match

06 07 00 12h Data type does not match, length of service parameter too high

06 07 00 13h Data type does not match, length of service parameter too low

06 09 00 11h Sub-index does not exist

06 01 00 01h Attempt to read a write only object

06 01 00 02h Attempt to write a read only object

06 09 00 30h Value range of parameter exceeded

06 09 00 31h Value of parameter written too high

06 09 00 32h Value of parameter written too low

08 00 00 20h Data cannot be transferred or stored to the application *1)

08 00 00 21h Data cannot be transferred or stored to the application because of local control

08 00 00 22h Data cannot be transferred or stored to the application because of the present device state *2)

*1) According to DS301 used on invalid access to store_parameters / restore_parameters

*2) „Device State“ is used generally: For instance a wrong operation mode can be choosen or the number of mapped object is written while the PDO is active.


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5.3 PDO-Message Process Data Objects (PDOs) are suitable to transmit data event-controlled, whereat the PDO contains one or more predefined parameters. In contrast to SDOs no hand-shake is used. So the receiver has to be able to handle an arriving PDO at any time. In most cases this requires a great deal of software in the host computer. This disadvantage is in contrast to the advantage that the host computer does not need cyclically inquiry of the objects embedded in a PDO, which means a strong reduction of bus load.

EXAMPLE The host computer wants to know when the servo controller has reached the target position at a positioning from A to B. If SDOs are used the host constantly has to poll the object statusword, e.g. every millisecond, thus loading the bus capacity more or less depending on the request cycle time. If PDOs are used the servo controller is parametrized at the start of an application in such a way that a PDO including the statusword is send on each modification of the statusword. So the host computer does not need to poll the statusword all the time. Instead a message is send to the host automatically if the specified event occurs.

Following types of PDOs can be differenced:

Transmit-PDO (T-PDO) Servo Host Servo controller sends PDO if a certain event occurs

Receive-PDO (R-PDO) Host Servo Servo controller evaluates PDO if a certain event occurs

The servo controller disposes of four Transmit- and four Receive-PDOs. Almost all parameters can be embedded (mapped) into a PDO, i.e. the PDO is for example composed of the velocity actual value, the position actual value or the like. Before a PDO can be used the servo controller has to know, what data shall be transmitted, because a PDO only contains useful data and no information about the kind of parameter. In the following example the PDO contains the position actual value in the data byte D0...D3 and the velocity actual value in the data bytes D4...D7.

Number of data bytes (8)

Start of velocity actual value (D4...D7)

181h Len D0 D1 D2 D3 D4 D5 D6 D7

Identifier Start of position actual value (D0...D3)

Almost any desired data frame can be built this way. The following chapter shows how to parametrize the servo controller for that purpose:


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5.3.1 Description of objects

Identifier of PDOs COB_ID_used_by_PDO In the object COB_ID_used_by_PDO the desired identifier has to be entered. The PDO will be sent with this identifier. If bit 31 is set the associated PDO will be deactivated. This is the default setting. It is necessary to have bit 30 set always because no support for Remote Transmit is given. It is prohibited to change the COB-ID if the PDO is not deactivated, i.e. bit 31 is set. Therefore the following sequence has to be used to change the COB-ID:

- Read the COB-ID out of the servo - Write back the written COB-ID + C0000000h - Write the new COB-ID + C0000000h - Write the new COB-ID + 40000000h, the PDO is active

again. Number of objects to be transmitted

number_of_mapped_objects

The object determines how many objects are mapped into the specific PDO. Following restrictions has to be respected:

- A maximum of 4 objects can be mapped into a PDO. - The total length of a PDO must not exceed 64 bit.

Objects to be transmitted

first_mapped_object ... fourth_mapped_object

The host has to parametrize the index, the subindex and the length of each object that should be transmitted by the PDO. The length has to match with the length stored in the Object Dictionary. Parts of an object cannot be mapped. The following format has to be used:

Index of object to be mapped (hex) Subindex of object to be mapped (hex)

xxx_mapped_object Index(16 Bit)

Subindex(8 Bit)

Length(8 Bit)

Length of object

To simplify the mapping the following sequence has to be used: 1.) The number_of_mapped_objects is set to 0. 2.) The parameter first_mapped_object...fourth_mapped_object

can be parameterised (The length of all objects will not be considered at this time).

3.) The number_of_mapped_objects is set to a value between 1...4: The length of all mapped objects may not exceed 64 bit now.


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Transmissiontype transmission_type und inhibit_time

For each PDO it can be parametrized which event results in sending (Transmit-PDO) resp. evaluating (Receive-PDO) the PDO:

Value Description Allowed with

00h –F0h SYNC message The value determines how many SYNC messages will be ignored before the PDO will be - sent (T-PDO) resp. - evaluated (R-PDO).

TPDOs RPDOs

FEh Cyclic A Transfer-PDO will be updated and sent cyclic. The period is determined by the object inhibit_time. Receive-PDOs will be evaluated immediately after receipt.

TPDOs (RPDOs)

FFh On change The Transfer-PDO will be sent, if at least one bit of the PDO data has changed. Therefore the object inhibit_time determines the minimal period between two PDOs in multiples of 100µs. The Receive-PDO is evaluated imidiatly

TPDOs RPDOs

The use of any other value for this parameter is inhibited.

Mask transmit_mask_high and transmit_mask_low Using the transmission_type "On change" the TPDO will always be sent if at least one bit has changed. Sometimes it is useful to send the TPDO only if a defined bit has changed. Therefore it is possible to mask the TPDO. Thereby only TPDO bits with an "1" in the corresponding bit of the mask will take effect to determine if the PDO has changed. This function is manufacturer specific and deactivated by default, i.e. all bits of the mask are set by default.


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EXAMPLE Following objects should be transmitted in a PDO:

Name of object Index_subindex Meaning

statusword 6041h_00h Device Control

modes_of_operation_display 6061h_00h Operating mode

digital_inputs 60FDh_00h Digital inputs

The 1st Transmit-PDO (TPDO 1) should be used and should always be sent if a digital input changes but with a minimum repetition time of 10 ms. The PDO should use identifier 187h.

1.) Set number of mapped objects to 0

To enable the mapping, the number of mapped objects have to be zero. ⇒ number_of_mapped_objects = 0

2.) Parametrize objects to be mapped:

The above mentioned objects have to be assembled to a 32 bit value:

Index =6041h Subin. = 00h Length = 10h ⇒ first_mapped_object = 60410010h Index =6061h Subin. = 00h Length = 08h ⇒ second_mapped_object = 60610008h Index =60FDh Subin. = 00h Length = 20h ⇒ third_mapped_object = 60FD0020h3.) Set number of mapped objects:

The PDO contains 3 objects ⇒ number_of_mapped_objects = 3h4.) Parametrize transmission type

The PDO should be sent if a digital input changes. ⇒ transmission_type = FFh

The PDO have to be masked in order to restrict the condition for a trans-mission of the PDO to a change of the digital inputs.

⇒ transmit_mask_high = 00FFFF00h ⇒ transmit_mask_low = 00000000h

The PDO should be sent at most every 10 ms (100×100µs). ⇒ inhibit_time = 64h

5.) Parametrize the identifier

The PDO should use identifier 187h. If the PDO is activated, it has to be disabled at first.

Read the identifier: ⇒ 00000181h = cob_id_used_by_pdo Set bit 31 (deactivate): ⇒ cob_id_used_by_pdo = C0000181h Write new identifier: ⇒ cob_id_used_by_pdo = C0000187h Activate by deleting bit 31: ⇒ cob_id_used_by_pdo = 40000187h

Parametrising PDOs Please note that it is only allowed to change the settings of the PDO if the Network state (NMT) is not operational. See also chapter 5.3.3


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5.3.2 Objects for parameterising PDOs The servo positioning controllers contain 4 Transmit- and 4 Receive-PDOs. The objects for parameterising these PDOs are equal for each 2 TPDOs and each 2 RPDOs. Therefore only the description for the first TPDO is stated below. It can be taken analogous for all the other PDOs, listed in a table thereafter. Index 1800h

Name transmit_pdo_parameter_tpdo1Object Code RECORD

No. of Elements 3

Sub-Index 01h

Description

cob_id_used_by_pdo_tpdo1Data Type UINT32 Access rw PDO Mapping no Units -

Value Range 181h...1FFh, Bit 31 may be set, Bit 30 must be set because no remote transmit is supported

Default Value C0000181h

Sub-Index 02h

Description transmission_type_tpdo1Data Type UINT8 Access rw PDO Mapping no Units - Value Range 0...8Ch, FEh, FFh

Default Value FFh

Sub-Index 03hDescription inhibit_time_tpdo1Data Type UINT16 Access rw PDO Mapping no Units 100µs (i.e. 10 = 1ms) Value Range

Default Value 0


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Index 1A00h

Name transmit_pdo_mapping_tpdo1 Object Code RECORD

No. of Elements 4 Sub-Index 00hDescription number_of_mapped_objects_tpdo1Data Type UINT8 Access rw PDO Mapping no Units -- Value Range 0...4

Default Value 0 Sub-Index 02hDescription

second_mapped_object_tpdo1

Data Type UINT32 Access rw PDO Mapping no Units -- Value Range -- Default Value see Table

Sub-Index 03h

Description third_mapped_object_tpdo1Data Type UINT32 Access rw PDO Mapping no Units -- Value Range -- Default Value see Table

Sub-Index 04hDescription fourth_mapped_object_tpdo1Data Type UINT32 Access rw PDO Mapping no Units --

Value Range -- Default Value see Table


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1. Transmit-PDO

Index Comment Type Acc. Default Value1800h 00h number of entries UINT8 ro 03 h

1800h 01h COB-ID used by PDO UINT32 rw C0000181h

1800h 02h transmission type UINT8 rw FFh

1800h 03h inhibit time (100 µs) UINT16 rw 0000h

1A00h 00h number of mapped objects UINT8 rw 01h

1A00h 01h first mapped object UINT32 rw 60410010h

1A00h 02h second mapped object UINT32 rw 00000000h

1A00h 03h third mapped object UINT32 rw 00000000h

1A00h 04h fourth mapped object UINT32 rw 00000000h

2. Transmit-PDO

Index Comment Type Acc. Default Value1801h 00h number of entries UINT8

ro 03h



1801h 03h inhibit time (100 µs) UINT16 rw 0000h

1A01h 00h number of mapped objects UINT8 rw 02h

1A01h 01h first mapped object UINT32 rw 60410010h

1A01h 02h second mapped object UINT32 rw 60610008h

1A01h 03h third mapped object UINT32 rw 00000000h

1A01h 04h fourth mapped object UINT32 rw 00000000h


Seite 35

tpdo_1_transmit_mask Index Comment Type Acc. Default Value

2014h _00h number of entries UINT8

ro 02h

2014h _01h tpdo_1_transmit_mask_low UINT32 rw FFFFFFFFh

2014h _02h tpdo_1_transmit_mask_high UINT32 rw FFFFFFFFh

tpdo_2_transmit_mask Index Comment Type Acc. Default Value

2015h _00h number of entries UINT8

ro 02h

2015h _01h tpdo_2_transmit_mask_low UINT32 rw FFFFFFFFh

2015h _02h tpdo_2_transmit_mask_high UINT32 rw FFFFFFFFh

1. Receive PDO

Index Comment Type Acc. Default Value1400h 00h number of entries UINT8 ro 02h



1600h 00h number of mapped objects UINT8 rw 01h

1600h 01h first mapped object UINT32 rw 60400010h

1600h 02h second mapped object UINT32 rw 00000000h

1600h 03h third mapped object UINT32 rw 00000000h

1600h 04h fourth mapped object UINT32 rw 00000000h

2. Receive PDO Index Comment Type Acc. Default Value1401h 00h number of entries UINT8

ro 02h



1601h 00h number of mapped objects UINT8 rw 02h

1601h 01h first mapped object UINT32 rw 60400010h

1601h 02h second mapped object UINT32 rw 60600008h

1601h 03h third mapped object UINT32 rw 00000000h

1601h 04h fourth mapped object UINT32 rw 00000000h


Seite 36

5.3.3 Activation of PDOs The following points have to be fulfilled for the activation of a PDO: • The object number_of_mapped_objects has to be different from zero

• The bit 32 has to be deleted in the object cob_id_used_for_pdos

• The communication status of the servo has to be operational (see chapter 5.7, Network management)

The following points have to be fullfilled to parametrize a PDO • The communication status of the servo must not be operational

5.4 SYNC-Message Several devices of a plant can be synchronised with each other. To that purpose one of the devices (in most cases the superimposed control) periodically sends synchronisation messages. All connected servo controllers receive these messages and use them for the treatment of the PDOs (see chapter 5.3).

Identifier: 80h

80h 0

Number of databytes

The identifier the servo controller receives SYNC messages is fixed to 080h. The identifier can be read via the object cob_id_sync. Index 1005h

Name cob_id_syncObject Code VAR

Data Type UINT32

Access rw PDO Mapping no Units

Value Range 80000080h, 00000080h

Default Value 00000080h


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5.5 EMERGENCY-Message The servo controller monitors the functions of its essential units. The power supply, the power stage, the angle encoder input, and the technology module belong to these units. Besides this the motor (temperature, angle encoder) and the limit switches are constantly controlled. Bad parameters could also result in error messages (division by zero etc.).

5.5.1 Structure of an EMERGENCY message If an error occurs the servo controller always sends an EMERGENCY message. The identifier of this message is 080h plus node number. The EMERGENCY message consists of eight data bytes with the error code in the first two bytes.These error_codes are described in the following table. There is a further error code (object 1001h) in the third byte. The other five bytes contain zeros.

error_code

Identifier: 80h + node number

error_register (Obj. 1001h)

81h 8 E0 E1 R0 0 0 0 0 0

Number of data bytes The following error_codes can occur error_code Anzeige

(hex) Bedeutung

3 4310 Overtemperature motor 4 4210 Overtemperature of the power stage 5 7392 SINCOS-supply 6 7391 SINCOS-RS485-communication 7 7390 SINCOS-encoder signal 8 7380 resolver 9 5113 5V-supply 10 5114 12V-supply 11 5112 24V-supply(out of range) 13 5210 Offset current measuring 14 2320 Over current in power stage 15 3220 Undervoltage DC-bus 16 3210 Overvoltage DC-bus 17 7385 Hallsensor 19 2312 I2t- motor (I2t is 100%) 20 2311 I2t- servo (I2t is 100%) 26 2380 I2t is 80% 27 4380 Temperature motor 5°C below maximum 28 4280 Temperatur servo 5°C below Maximum 29 8611 Following error 31 8612 Limit switch 35 6199 Timeout during quickstop


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error_code Anzeige (hex)

Bedeutung

36 8A80 Homing 40 6197 Motor- and encoder identification 43 6193 Course programm unknown command 44 6192 Course programm unknown jump target 56 7510 RS232-communication 57 6191 Positioning set 58 6380 Operating mode 60 6190 Precalculation for position profile 62 6180 Stack-Overflow 63 5581 Checksummen 64 6187 Initialisation

5.5.2 Description of Objects

5.5.2.1 Object 1003 : pre_defined_error_field

15) has to be executed to reactivate the power stage of the servo controller fter an error.

h

The error_codes of the error messages are recorded in a four-stage error memory. This memory is structured like a shift register so that always the last error is stored in the object 1003h_01h (standard_error_field_0). By a read access to the object 1003h_00h (pre_defined_error_field) you can find out how many error messages are recorded in the error memory at the moment. The error memory is deleted by writing the value 00h into the object 1003h_00h (pre_defined_error_field). In addition an error reset (see chapter 7.1: state transitiona

Index 1003h Name pre_defined_error_fieldObject Code ARRAY No. of Elements 4

UINT32

Data Type

Sub-Index 00h

Description pre_defined_error_fieldData Type UINT8 Access Rw PDO Mapping No Units --

Value Range 0 (write access): clear error buffer 0..4 (read access): errors in error buffer --

Default Value


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Sub-Index 01h

Description standard_error_field_0Access ro PDO Mapping no

Units -- Value Range -- Default Value --

Sub-Index 02h



Sub-Index 03h



Sub-Index 04h

Description

standard_error_field_3

Access ro PDO Mapping no Units -- Value Range -- Default Value --


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5.6 Heartbeat / Bootup (Error Control Protocol)

5.6.1 Structure of the heartbeat message To monitor the communication between slave (servo) and master the heartbeat protocol is implemented. The servo cyclically sends a message to the master. The master can check if it cyclically receives the heartbeat and initiate appropriate reactions if not. The heartbeat message will be sent with the identifier 700h + node number. It is only composed of 1 Byte, containing the NMT state of the servo (see Chapter 5.7, Network management).

NMT state


701h 1 N

Message length

5.6.2 Structure of the Bootup message After power-on or after reset, the servo positioning controller reports through a Bootup message that the initialising has been finished. The servo is afterwards in the NMT state preoperational (see Chapter 5.7, Network management)

Token for Bootup message


701h 1 0

Message length

The Bootup message is nearly identical with the Heartbeat message. Only instead of the NMT state zero will be sent.


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5.6.3 Objects

5.6.3.1 Object 1017h: producer_heartbeat_time

The time between two heartbeat messages can be determined by the object producer_heart-beat_time. Index 1017h

Name producer_heartbeat_timeObject Code VAR

UINT16

Data Type

Access rw PDO Mapping no Units ms Value Range 0...65536 Default Value 0

The producer_heartbeat_time can be saved in the parameter set. If the servo starts with a producer_heartbeat_time unequal zero, the Bootup messages is seen as the first heatbeat.

5.7 Network management (NMT service) All CANopen devices can be triggered via the network management. A special identifier (000h) is reserved for that. Commands can be sent to one or all servo controller via this identifier. Each command consists of two bytes. The first byte contains the command code and the second byte the node address of the addressed servo controller. All nodes which are in the network can be addressed via the node address zero simultaneously. So it is possible, for example, to make a reset in all devices at the same time. The servo controller does not quit the NMT-commands. It is only indirectly possible to decide if a reset was successful (e. g. through the Bootup message after a reset). Structure of the message:

Command

Identifier: 000h

Node ID

000h 2 CS NI

Data length


Seite 42

The NMT states of a CANopen device are determined in a state diagram . With the byte CS of the NMT message state transitions can be initiated. They are mostly determined by the target state.

ResetApplication

ResetCommunication

Initialising

Pre-Operational

Operational

Stopped

1

2

5 7

6 8

3 4

16

15

11

13

12

10

9

14

Initialisation

Figgure 5.3: NMT-State machine

With the following commands the NMT state can be changed:

CS Meaning Transition Target state01h Start Remote Node 3, 6 Operational02h Stop Remote Node 5, 8 Stopped80h Enter Pre-Operational 4, 7 Pre-Operational81h Reset Application 12, 13, 14 Reset Application82h Reset Communication 9, 10, 11 Reset Communication

All remaining transitions will be executed automatically by the servo controller, e.g. if initialising has been finished. The parameter NI contains the node number of the servo controller or zero, if all nodes within the network will be addressed. Depending on the NMT state several communication objects can not be used. For example it is necessary to set the NMT state to operational to enable sending and receiving PDOs.


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Name Meaning SDO PDO NMTReset Application No communication. All CAN objects are set to their

reset values (application parameter set). - - -

Reset Communication

No communication. The CAN controller will be re-initialised. - - -

Initialising State after Hardware Reset. Reset of the CAN node, sending of the Bootup message - - -

Pre-Operational Communication via SDOs possible. PDOs inactive (No sending / receiving) X - X

Operational Communication via SDOs possible. PDOs active (sending / receiving) X X X

Stopped No communication except heartbeat + NMT - - X

The communication status has to be set to operational to allow the servo to send and receive PDOs

5.8 Table of identifiers The following table gives a survey of the used identifiers.

Object-Type Identifier (hexadecimal) Remark SDO (Host to Servo) 600h+node id SDO (Servo to Host) 580h + node id

TPDO1 181h

TPDO2 281h

RPDO1 201h

RPDO2 301h

SYNC 080h

EMCY 080h + node idHEARTBEAT 700h + node id

BOOTUP 700h + node id

Standard values.

Can be changed on demand.

NMT 000h


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6 Adjustment of parameters

Before a certain task (e.g. torque or velocity control) can be managed by the servo controller several parameters have to be adjusted according to the used motor and the specific application. Therefore the chronological order suggested by the following chapters should be abided.

After explaining the parameter adjustment the device control and the several modes of operation will be presented.

6.1 Load and save set of parameters

6.1.1 Survey

The servo controller has three parameter sets:

Current parameter set • This parameter set is in the transient memory (RAM) of the servo controller. It can be

read and written optionally via the parameter set-up program Metronix ServoCommander or via the CAN bus. When the servo controller is switched on the application parameter set is copied into the current parameter set .

Default parameter set • This is the unmodifiable default parameter set of the servo controller given by the

manufacturer. The default parameter set can be copied to the current parameter set through a write process into the CANopen object 1011h_01h (restore_all_default_para-meters). This copy process is only possible while the output power stage is switched off.

Application parameter set • The current parameter set can be saved into the non-transient flash memory. This

saving process is enabled by a write access to the CANopen object 1010h_01h (save_all_parameters). When the servo controller is switched on the application parameter set is copied to the current parameter set.

The following graphic illustrates the coherence between the respective parameter sets.


Seite 45

Two different methods are possible concerning the parameter set administration: 1. The parameter set is made up with the parameter set-up program DIS-2

ServoCommander and also transferred to the single servo controller by the parameter set-up program DIS-2 ServoCommander. With this method only those objects which can be accessed via CANopen exclusively have to be adjusted via the CAN bus. This method has the disadvantage that the parameter set-up software is needed for every start of a new machine or in case of repair (exchange of servo controller). Therefore this method only makes sense for individual units.

2. This method is based on the fact that most application specific parameter sets only vary in few parameters from the default parameter set. Thus it is possible to set up the current parameter set after every reset via the CAN bus. To that purpose the default parameter set is first loaded by the superimposed control (call of the CANopen object 1011h_01h (restore_all_default_parameters)). Afterwards only those objects are transferred which vary. The complete process only lasts about 0,3 seconds per drive. It is advantageous that this method also works for non-parametrized servo controllers and the parameter set-up software Metronix ServoCommander is not necessary for this.

It is urgently recommended to use method 2. But in this case it could happen that not all parameters can be set by the CAN-bus. If this is the case the first methode should be engaged.

Before switching on the power stage for the first time, assure that the servo controller contains the desired parameters.

An incorrect parameter set-up may cause uncontrolled behaviour of the motor and thereby personal or material damage may occur.


Seite 46


6.1.2.1 Object 1011h: restore_default_parameters

Index 1011h Name restore_parametersObject Code ARRAY No. of Elements 1 Data Type UINT32

Sub-Index 01h

Description restore_all_default_parametersAccess rw

PDO Mapping no Units - Value Range 64616F6Ch („load“) Default Value 1 (read access)

Through the object 1011h_01h (restore_all_default_parameters) it is possible to put the current parameter set into a defined state. For that purpose the default parameter set is copied to the current parameter set. The copy process is enabled by a write access to this object and the string "load" is to be passed as data set in hexadecimal form. This command is only executed while the output power stage is deactivated. Otherwise the SDO error "The controller is in wrong operation mode for this kind of operation" is generated. The parameter for the CAN communication (node number, baudrate and mode) remain unchanged.


Seite 47

6.1.2.2 Object 1010h: store_parameters

Index 1010h Name store_parametersObject Code ARRAY No. of Elements 1 Data Type UINT32

Sub-Index 01h

Description save_all_parametersAccess rw PDO Mapping no Units - Value Range 65766173h („save“) Default Value 1

To store the default parameter set as application parameter set, the object 1010h_01h (save_all_parameters) must be used additionally.


Seite 48

6.2 Conversion factors (Factor Group)

6.2.1 Survey

Servo controllers will be used in a huge number of applications: As direct drive, with gear or for linear drives. To allow an easy parametrization for all kinds of applications, the servo controller can be parametrized in such a way that all values like the demand velocity refer to the driven side of the plant. The necessary calculation is done by the servo controller.

Consequently it is possible to enter values directly in e.g. millimetre per second if a linear drive is used. The conversion is done by the servo controller using the Factor Group. For each physical value (position, velocity and acceleration) exists a specific conversion factor to adapt the unit to the own application. In general the user specific units defined by the Factor Group are called position_units, speed_units and acceleration_units. The following Figure shows the function of the Factor Group:

Principally all parameters will be stored in its internal units and converted while reading or writing a parameter.


Seite 49

Therefore the Factor Group should be adjusted once before commissioning the servo controller and not to be changed during parametrization.

The default setting of the Factor Group is as follows:

Value Name Unit Remark

Length position_units Increments 65536 Increments per revolution

Velocity speed_units min-1 Revolution per minute

Acceleration acceleration_units min-1/256s Increase of velocity per 256 seconds


6.2.2.1 Objects treated in this chapter

Index Object Name Type Attr. 6093h ARRAY position_factor UINT32 rw 6094h ARRAY velocity_encoder_factor UINT32 rw 6097h ARRAY acceleration_factor UINT32 rw 607Eh VAR polarity UINT8 rw

6.2.2.2 Object 6093h: position_factor

The object position_factor converts all values of length of the application from position_units into the internal unit increments (65536 Increments equals 1 Revolution). It consists of numerator and divisor:

Figure 6.4: Survey: Factor Group


Seite 50

Index 6093h Name position_factorObject Code ARRAY No. of Elements 2 Data Type UINT32

Sub-Index 01h

Description numerator

Access rw PDO Mapping yes Units -- Value Range -- Default Value 1

Sub-Index 02h

Description divisor

Access rw PDO Mapping yes Units -- Value Range -- Default Value 1

To calculate the position_factor the following values are necessary:

gear_ratio Ratio between revolutions on the driving side (RIN) and revolutions on the driven side (ROUT).

feed_constant Ratio between revolutions on the driven side (ROUT) and equivalent motion in position_units (e.g. 1 rev = 360°)

The calculation of the position_factor is done with the following equation:

antfeed_constgear_ratio65536

divisornumeratoractorposition_f ⋅

==

Numerator and divisor of the position_factor has to be entered separately. Therefore it may be necessary to extend the fraction to generate integers:


Seite 51

EXAMPLE 1. Desired unit on the driven side (position_units)

2. feed_constant: How many position_units are 1 revolution(ROUT)

3. gear_ratio: RIN per ROUT4. Calculate equation

1. 2. 3. 4. Result shortened

num: 1 Increments 1 ROUT

= 65536 Inc 1/1

IncInc

R1Inc65536

11

R1R1

RInc65536

11

=⋅⋅

div: 1

1 R OUT num: 4096 1/10 degree (degree/10)

= 3600 degree/10

1/1 1010

Inc

R13600

R1R1

RInc65536

°°=

⋅

360065536

div: 225

num: 16384 1/100 Rev. (R/100)

1/1 100

R100

RInc

R1001

R1R1

RInc65536

10065536

=⋅

div: 25

num: 32768 1/100 Rev. (R/100)

1 ROUT

= 100 R/100

2/3 100

R100

RInc

R1001

R3R2

RInc65536

300131072

=⋅

div: 75

num: 131072 1/10 mm (mm/10)

1/1 10

mm10

mmInc

R15.631

R1R1

RInc65536

6315655360

=⋅

div: 1263

num: 524288

1 ROUT

= 631.5 mm/101/10 mm

10mm10

mmInc

R1631.5

R5R4

RInc65536

315752621440

=⋅

div: 6315

4/5 (mm/10)


Seite 52

6.2.2.3 Object 6094h: velocity_encoder_factor

The object velocity_encoder_factor converts all speed values of the application from speed_units into the internal unit revolutions per seconds. It consists of numerator and divisor:

Index 6094h

Name velocity_encoder_factorObject Code ARRAY No. of Elements 2

Data Type UINT32

Sub-Index 01h

Description numeratorAccess rw PDO Mapping yes Units -- Value Range -- Default Value 1000h

Sub-Index 02h

Description divisorAccess rw PDO Mapping yes Units -- Value Range -- Default Value 1

In principle the calculation of the velocity_encoder_factor is composed of two parts: A conversion factor from internal units of length into position_units and a conversion factor from internal time units into user defined time units (e.g. from seconds to minutes). The first part equals the calculation of the position_factor. For the second part another factor is necessary for the calculation:

time_factor_v Ratio between internal and user defined time units. gear_ratio Ratio between revolutions on the driving side (RIN) and

revolutions on the driven side (ROUT).

feed_constant Ratio between revolutions on the driven side (ROUT) and equivalent motion in position_units (e.g. 1 rev = 360°)

The calculation of the velocity_encoder_factor is done with the following equation:

antfeed_constr_vtime_factogear_ratio65536

divisornumeratortorncoder_facvelocity_e ⋅⋅

==


Seite 53

Numerator and divisor of the velocity_encoder_factor has to be entered separately. Therefore it may be necessary to extend the fraction to generate integers:



3. time_factor_v: Desired time unit contains how many seconds ?

4. gear_ratio: RIN per ROUT

5. Calculate equation

1. 2. 3. 4. 5. ERGEBNIS Gekürzt

1 ROUT = num: 4096 R/min 65536 Inc

1 min

1 =

4096 min4096

1

1/1

minR

4096minR

1min1

4096min1

1

1

1

4096

1

1

1

1

1

4096=

⋅⋅

R

R

R

R

R

R

div: 1

num: 16 1/10

degree/s (degree/10s)

1 R =OUT 3600

degree/10

1 s1 =

1/60 min

1 =

4096/60min4096

1

1/1

sree

R

reeR

R

R

R

10deg

1

10deg3600

60

4096

1

1

1

1

216000

4096 4096minR

1min14096min

1

=

⋅⋅

div: 3375

num: 1024 1/100 R/min(R/100 min)

1/1

100minR

4096minR

1min1

4096min1

100

4096=

⋅⋅

R

R

R

R

R

R

1

100100

1

4096

1

1

1

1

div: 25

num: 2048 1/100 R/min (R/100 min)

1 ROUT =

100 U/100

1 min

1 =

4096 min4096

1

2/3

100minR

4096minR

1min1

4096min1

300

8192=

⋅⋅

R

R

R

R

R

R

1

100100

1

4096

3

2

1

1

div: 75

num: 2048 1/10 mm/s

(mm/10s) 1/1

10smm4096min

R1min

14096min

1

37890

4096=

⋅⋅

R

mm

R

R

R

R

1

105.631

60

4096

1

1

1

1

div: 18945

num: 16384

1 ROUT = 631.5 mm/10

1 s1 =

1/60 min

1 =

4096/60

100minR

4096minR

1min1

4096min1

3789

16384=

⋅⋅

R

R

R

R

R

R

1

1005.631

1

4096

3

2

1

11/10 mm/s

(mm/10s)

min4096

1

4/5 div: 3789


Seite 54

6.2.2.4 Object 6097h: acceleration_factor

The object acceleration_factor converts all acceleration values of the application from acceleration_units into the internal unit increments per second2 (65536 Increments equals 1 Revolution). It consists of numerator and divisor:

Index 6097h

Name acceleration_factorObject Code ARRAY No. of Elements 2

Data Type UINT32

Sub-Index 01h

Description numeratorAccess rw PDO Mapping yes Units -- Value Range -- Default Value 100h

Sub-Index 02h

Description divisorAccess rw PDO Mapping yes Units -- Value Range -- Default Value 1

The calculation of the velocity_encoder_factor is also composed of two parts: A conversion factor from internal units of length into position_units and a conversion factor from internal time units squared into user defined time units squared (e.g. from seconds2 to minutes2). The first part equals the calculation of the position_factor. For the second part another factor is necessary for the calculation:

time_factor_a Ratio between internal time units squared and user defined time units squared (e.g. 1 min2 = 1 min⋅1min = 60s ⋅ 1min

gear_ratio Ratio between revolutions on the driving side (RIN) and revolutions on the driven side (ROUT).

feed_constant Ratio between revolutions on the driven side (ROUT) and equivalent motion in position_units (e.g. 1 rev = 360°°)


Seite 55

The calculation of the acceleration_factor is done with the following equation:

antfeed_constr_atime_factogear_ratio65536

divisornumeratoron_factoraccelerati ⋅⋅

==

Numerator and divisor of the acceleration_factor has to be entered separately. Therefore it may be necessary to extend the fraction to generate integers:



3. time_factor_v: Desired (time unit)2 contains how many seconds2 ?

4. gear_ratio: RIN per ROUT

5. Calculate equation

1. 2. 3. 4. 5. Result

shortened

R/min 1 ROUT = num: 256 s

(R/min s)1 RIN

1 smin ⋅

1 =

256 s256

min

⋅

1

1/1

sminR

s256minR

s1min1

smin256 1

1

256 ⋅=

⋅

⋅⋅⋅

R

R

R

R

R

R

1

1

1

256

1

1

1

1

div: 1

num: 4 1/10

degree/s2

(degree/10s

2)

1 ROUT =3600

degree/10

1 2s

1 =

1/60 smin ⋅

1 =

256/60 s256

min

⋅

1

1/1210s

s256minR

smin1

smin256 1

ree

R

reeR

R

R

R

deg

1

10deg3600

60

256

1

1

1

1

216000

256 ⋅=

⋅

⋅⋅⋅

div: 3375

num: 3840 1/100 R/min2

(R/100 min2)

1/1

2100min

s256minR

minmin1

smin256 1

R

R

R

R

R

R

R

100

15360 ⋅=

⋅

⋅⋅⋅

1

100100

1

15360

1

1

1

1

div: 25

num: 2560 1/100 R/min2

(R/100 min2)

1 ROUT =

100 R/100

1 2min

1 =

60 smin ⋅

1 =

256⋅60 s256

min

⋅

1

2/3

2100min

s256minR

minmin1

smin256 1

R

R

R

R

R

R

R

300

30720 ⋅=

⋅

⋅⋅⋅

1

100100

1

15360

3

2

1

1

div: 25

num: 128 1/ 10mm/s

2

(mm/10s2)

1/12100min

s256minR

minmin1

smin256 1

R

Rree

mm

RR

RR

37890

256 ⋅=⋅

⋅⋅⋅

1deg105.631

60

256

11

11

div: 18945

num: 512

1 ROUT = 631.5 mm/10

1 2s

1 =

1/60 smin ⋅

1 =

256/60

2100min

s256minR

minmin1

smin256 1

R

R

reemm

R

R

R

R

189450

1024 ⋅=

⋅

⋅⋅⋅

1

deg105.631

60

256

5

4

1

11/ 10mm/s

2

(mm/10s2)

s256

min

⋅

1

4/5 div: 94725


Seite 56

6.2.2.5 Object 607Eh: polarity

The signs of the position and velocity values of the servo controller can be adjusted via the corresponding polarity flag. This flag can be used to invert the direction of rotation of the motor keeping the same desired values. In most applications it makes sense to set the position_polarity_flag and the velocity_polarity_flag to the same value. The conversion factors will be used when reading or writing a position or velocity value. Stored parameters will not be affected.

Index 607Eh

Name polarityObject Code VAR

Data Type UINT8

Access rw PDO Mapping yes Units -- Value Range 40h, 80h, C0h

Default Value 0 Bit Value Name Description 6 40h velocity_polarity_flag 0: multiply by 1 (default)

1: multiply by –1 (invers)

7 80h position_polarity_flag 0: multiply by 1 (default) 1: multiply by –1 (invers)


Seite 57

6.3 Power stage parameters

6.3.1 Survey The motor is fed from the intermediate circuit via the IGBTs. The power stage contains a number of security functions which can be parametrized in part:

• Controller enable logic (software and hardware enabling)

• Over- and undervoltage control of the intermediate circuit

• Overcurrent control • Power stage control


Index Object Name Typ Attr. 6510h VAR drive_data

6.3.2.1 Object 6510h_10h: enable_logic

The digital inputs enable power stage and enable controller have to be set so that the power stage of the servo controller can be activated: The input enable power stage directly acts on the trigger signals of the power transistors and would also be able to interrupt them in case of a defective microprocessor. Therefore the clearing of the signal enable power stage during the motor is rotating causes the effect that the motor coasts down without being braked or is only stopped by a possibly existing holding brake. The signal of the input enable controller is processed by the microcontroller of the servo controller. Depending on the mode of operation the servo controller reacts differently after clearing this signal:

Profile Position Mode and Profile Velocity Mode • The motor is decelerated using the defined brake ramp after clearing the signal. The

power stage is switched off if the motor speed is below 10 rpm and a possibly existing holding brake is locked.

Torque Mode • The power stage is switched off immediately after the signal has been cleared. At the

same time a possibly existing holding brake is locked. Therefore the motor coasts down without being braked or is only stopped by a stop brake which might exists. .

CAUTION ! Both signals do not ensure that the motor is de-energised, although the power stage has been switched off.

If the servo controller is operated via the CAN bus, it is possible to control the enabling via the CAN bus. To do that the object 6510h_10h (enable_logic) has to be set to 2 .


Seite 58

Index 6510h

Name drive_dataObject Code RECORD

No. of Elements 44

Sub-Index 10h

Description enable_logicData Type UINT16 Access rw PDO Mapping no Units Value Range 0...2 Default Value 2

Value Description

0 Digital inputs enable power stage + enable controller. 1 Digital inputs enable power stage + enable controller + RS232 2 Digital inputs enable power stage + enable controller + CAN

6.4 Current control and motor adaptation

Caution ! Incorrect setting of current control parameters and the current limits may possibly destroy the motor and even the servo controller immediately!

6.4.1 Survey The parameter set of the servo controller has to be adapted to the connected motor and the used cable set. The following parameters are concerned: • Nominal current Depending on motor

• Overload Depending on motor

• Pairs of poles Depending on motor

• Current controller Depending on motor

• Direction of rotation Depending on motor and the phase sequence in the motor cable and the resolver cable

• Offset angle Depending on motor and the phase sequence in the motor cable and the resolver cable

These data have to be determined by the program Metronix ServoCommander when a motor type is used for the first time. You may obtain elaborate parameter sets for a number of


Seite 59

motors from your dealer. Please remember that direction of rotation and offset angle also depend on the used cable set. Therefore the parameter sets only work correctly if wiring is identical.

Permuted phase order in the motor or the resolver cable may result in a positive feedback so the velocity in the motor cannot be controlled. The motor will rotate uncontrolled!


Index Object Name Type Attr. 6075h VAR motor_rated_current UINT32 rw 6073h VAR max_current UINT16 rw 604Dh VAR pole_number UINT8 rw 6410h RECORD motor_data UINT32 rw 60F6h RECORD torque_control_parameters UINT16 rw

6.4.2.1 Object 6075h: motor_rated_current

This value can be read on the motor plate and is specified in mA (effective value, RMS). The value is entered as root main square (RMS) value. It is not possible to enter values higher than the nominl current of the servo. Index 6075h

Name motor_rated_current

Object Code VAR Data Type UINT32

Access rw PDO Mapping yes Units mA Value Range 0...nominal_current

Default Value 2870

If a new value is written into the object 6075h (motor_rated_current) also object 6073h (max_current) has to be rewritten.


Seite 60

6.4.2.2 Object 6073h: max_current

Servo motors may be overloaded for a certain period of time. The maximum permissible motor current is set via this object. It refers to the nominal motor current (object 6075h: motor_rated_current) and is set in thousandths. The upper limit for this object is determined by the peak_current of the servo. Many motors may be overloaded by the factor 2 for a short while. In this case the value 2000 has to be written into this object.

Before writing object 6073h (max_current) the object 6075h (motor_rated_current) must have a valid value.

Index 6073h

Name max_current


Access Rw PDO Mapping Yes Units per thousands of rated current Value Range -

Default Value 1968

6.4.2.3 Object 604Dh: pole_number

The number of poles of the motor can be read in the datasheet of the motor or the parameter set-up program DIS-2 ServoCommander. The number of poles is always an integer value. Often the number of pole pairs is specified instead of the number of poles. In this case the number of poles equals the number of pole pairs multiplied with two. Index 604Dh

Name

Pole_number


Access Rw PDO Mapping Yes Units -- Value Range 2... 128 Default Value 2


Seite 61

6.4.2.4 Object 6410h_03h: iit_time_motor

Servo motors may be overloaded for a certain period of time. This object indicates how long the motor may receive a current specified in the object 6073h (max_current). After the expiry of the I²t-time the current is automatically limited to the value specified in the object 6075h (motor_rated_current) in order to protect the motor. The default adjustment is 2 seconds and can be used for most motors. Index 6410h

Name Motor_dataObject Code RECORD

No. of Elements 5 Sub-Index 03h

Description iit_time_motorData Type UINT16 Access Rw PDO Mapping No Units ms Value Range 0...10000

Default Value

2000

6.4.2.5 Object 6410h_04h: iit_ratio_motor

The actual value of iit can be read via the object iit_ratio_motor. Sub-Index 04h

Description Iit_ratio_motorData Type UINT16 Access Ro PDO Mapping No Units per mille Value Range --

Default Value

--

6.4.2.6 Object 6410h_10h: phase_order

With the object phase_order it is possible to consider permutations of motor- or resolver cable. This value can be taken from Metronix ServoCommander. A zero means “right”, a one means “left”.


Seite 62

Sub-Index 10h

Description phase_orderData Type INT16 Access rw PDO Mapping yes Units -- Value Range 0, 1 Default Value 0

Value Description 0 Right

1 Left

6.4.2.7 Object 6410h_11h: encoder_offset_angle

In case of the used servo motors permanent magnets are on the rotor. These magnets generate a magnetic field whose orientation to the stator depends on the rotor position. For the electronic commutation the controller always has to position the electromagnetic field of the stator in the correct angle towards this permanent magnetic field. For that purpose it permanently determines the rotor position with an angle encoder (resolver etc.). The orientation of the angle encoder to the magnetic field has to be written to the object resolver_offset_angle. This angle can be determined by the parameter set-up program Metronix ServoCommander. The angle determined by the parameter set-up program Metronix ServoCommander is in the range of +/-180°. It has to be converted as follows to be written into the object resolver_offset_angle:

32767 encoder_offset_angle = „Offset of encoder“ × 180° Index 6410h

Name

motor_dataObject Code RECORD No. of Elements 5

Sub-Index 11h

Description encoder_offset_angleData Type INT16

Access rw PDO Mapping Yes Units Value Range -32767...32767 Default Value 2C60h (62,4°)


Seite 63

6.4.2.8 Object 2415h: current_limitation

The record current_limitation allows the limitation of the maximum current independent of the mode of operation (velocity control, positioning) whereby torque limited speed control is possible. The source of the torque limit can be chosen by the object limit_current_input_channel. Possibly sources for the torque limit are Fieldbus, RS232 or an analogue input. Depending on the chosen source the object limit_current determines the torque limit (Source = Fieldbus / RS232) or the scaling factor for the analogue input (Source = Analogue input). In the first case the current limit in mA can be entered directly, in the later case the current in mA corresponding to an input value of 10V has to be entered Index 2415h

Name current_limitation

Object Code RECORD No. of Elements 2

Sub-Index 01h

Description limit_current_input_channelData Type INT8 Access Rw PDO Mapping No Units --

Value Range 0...4 Default Value 0

Sub-Index 02h

Description limit_currentData Type INT32 Access Rw PDO Mapping No Units MA Value Range -- Default Value 5650

Value Description 0 No limitation 1 AIN0

2 AIN1

3 RS232

4 CAN


Seite 64

6.4.2.9 Object 60F6h: torque_control_parameters

The data of the current controller has to be taken from the parameter set-up program. The following conversions have to be noticed:

The gain of the current controller has to be multiplied by 256. In case of a gain of 1.5 in the parameter set-up program the value 384 = 180h has to be written into the object torque_control_gain.

The time constant of the current controller is specified in milliseconds in the parameter set-up program DIS-2 ServoCommander. This time constant has to be converted to microseconds before it can be transferred into the object torque_control_time. In case of a specified time of 0.6 milliseconds a value of 600 has to be entered into the object torque_control_time. Index 60F6h

Name torque_control_parametersObject Code RECORD

No. of Elements 2

Sub-Index 01h

Description torque_control_gainData Type UINT16 Access rw PDO Mapping no Units 256 = „1“ Value Range 0...32*256 Default Value 256

Sub-Index 02h

Description torque_control_timeData Type UINT16 Access Rw PDO Mapping No Units µs Value Range 100... 65500 Default Value 2000


Seite 65

6.5 Velocity controller

6.5.1 Survey The parameter set of the servo controller has to be adapted to the specific application. In particular the gain strongly depends on the masses coupled to the motor. So the data have to be determined by means of the program DIS-2 ServoCommander when the plant is set into operation.

Incorrect setting of the velocity control parameters may lead to strong vibrations and destroy parts of the plant!


Index Object Name Type Attr. 60F9h RECORD velocity_control_parameters rw

6.5.2.1 Object 60F9h: velocity_control_parameters

The data of the velocity controller can be taken from the parameter set-up program DIS-2 ServoCommander. Note the following conversions:

The gain of the velocity controller has to be multiplied by 256. In case of a gain of 1.5 in DIS-2 ServoCommander the value 384 has to be written into the object velocity_control_gain.

The time constant of the velocity controller is specified in milliseconds in DIS-2 ServoCommander. This time constant has to be converted to microseconds before it can be transferred into the object velocity_control_time. In case of a specified time of 2.0 milliseconds a value of 2000 has to be written into the object velocity_control_time.


Seite 66

Index 60F9h Name velocity_control_parameter_setObject Code RECORD No. of Elements 3

Sub-Index 01h

Description velocity_control_gainData Type UINT16 Access rw PDO Mapping no

Units 256 = Gain 1 Value Range 26…64*256 (16384) Default Value 179 (0.7)

Sub-Index 02h

Description

Velocity_control_time

Data Type UINT16 Access Rw PDO Mapping No Units µs Value Range 200...32000 Default Value 8000

Sub-Index 04h Description velocity_control_filter_timeData Type UINT16 Access rw PDO Mapping no Units µs Value Range 200...32000 Default Value 1600


Seite 67

6.6 Position Control Function

6.6.1 Survey This chapter describes all parameters which are required for the position controller. The desired position value (position_demand_value) of the trajectory generator is the input of the position controller. Besides this the actual position value (position_actual_value) is supplied by the angle encoder (resolver, incremental encoder, etc.). The behaviour of the position controller can be influenced by parameters. It is possible to limit the output quantity (control_effort) in order to keep the position control system stable. The output quantity is supplied to the speed controller as desired speed value. In the Factor Group all input and output quantities are converted from the application-specific units to the respective internal units of the controller.

The following subfunctions are defined in this chapter: 1. Trailing error (Following Error)

The deviation of the actual position value (position_actual_value) from the desired position value (position_demand_value) is named trailing error. If for a certain period of time this trailing error is bigger than specified in the trailing error window (following_error_window) bit 13 (following_error) of the object statusword will be set. The permissible time can be defined via the object following_error_time_out.

LimitFunction

following_error_time_out(6066h)

following_error_window(6067h)

[position units]home_offset (607Ch) position_factor (6093h)

polarity (607Eh)

[inc]Multiplier

position_actual_value*(6063h)

-[inc]

TimerWindow

Comparator

following_error

status_word(6041h)

position_demand_value*

Figure 6.5: Trailing error (Following Error) – Function Survey


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Figure 6.6 shows how the window function is defined for the message "following error". The range between xi-x0 and xi+x0 is defined symmetrically around the desired position (position_demand_value) xi. For example the positions xt2 and xt3 are outside this window (following_error_window). If the drive leaves this window and does not return to the window within the time defined in the object following_error_time_out then bit 13 (following_error) in the statusword will be set.

Figure 6.6: Trailing error (following error)

2. Position Reached

This function offers the chance to define a position window around the target position (target_position). If the actual position of the drive is within this range for a certain period of time – the position_window_time – bit 10 (target_reached) will be set in the statusword.

LimitFunction

position_window_time(6068h)

position_window(6067h)


polarity (607Eh)

[inc]Multiplier

LimitFunction

target_position(607Ah)


polarity (607Eh)

Multiplier

position_actual_value*(6063h)

-

[inc]

TimerWindow

Comparator

target reached

status_word(6041h)

Figure 6.7: Position Reached – Function Survey


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Figure 6.8 shows how the window function is defined for the message ”position reached”. The position range between xi-x0 and xi+x0 is defined symmetrically around the target position (target_position) xi. For example the positions xt0 and xt1 are inside this position window (position_window). If the drive is within this window a timer is started. If this timer reaches the time defined in the object position_window_time and the drive uninterruptedly was within the valid range between xi-x0 and xi+x0, bit 10 (target_reached) will be set in the statusword. As far as the drive leaves the permissible range, bit 10 is cleared and the timer is set to zero.

Figure 6.8: Position reached



Index Object Name Type Attr.6062h VAR position_demand_value INT32 ro 6063h VAR position_actual_value* INT32 ro 6064h VAR position_actual_value INT32 ro 6065h VAR following_error_window UINT32 rw 6066h VAR following_error_time_out UINT16 rw 6067h VAR position_window UINT32 rw 6068h VAR position_window_time UINT16 rw 60FAh VAR control_effort INT32 ro 60FBh RECORD position_control_parameter_set rw


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6.6.2.2 Affected objects from other chapters

Index Object Name Type Chapter 607Ah VAR target_position INT32 8.3 Operating Mode »Profile Position

Mode«

607Ch VAR home_offset INT32 8.2 Operating Mode »Homing mode«

607Eh VAR polarity UINT8 6.2 Conversion factors (Factor Group)

6093h VAR position_factor UINT32 6.2 Conversion factors (Factor Group)

6094h ARRAY velocity_encoder_factor UINT32 6.2 Conversion factors (Factor Group)

6040h VAR controlword INT16 6.10. Device Control

6041h VAR statusword UINT16 6.10. Device Control

6.6.2.3 Object 60FBh: position_control_parameter_set

All parameters of the servo controller have to be adapted to the specific application. Therefore the position control parameters have to be determined optimal by means of the parameter set-up program DIS-2 ServoCommander.

Incorrect setting of the position control parameters may lead to strong vibrations and so destroy parts of the plant !

The position controller compares the desired position with the actual position and forms a correction speed (Object 60FAh: control_effort). This correction speed is supplied to the speed controller. The position controller is relatively slow compared to the current controller and speed controller. Therefore the controller internally works with feed forward so that the correction work for the position controller is minimised reaching a fast settling time. A proportional control unit is sufficient as position controller. The gain of the position controller has to be multiplied by 256. In case of a gain of 1.5 in the menu Position controller of the parameter set-up program DIS-2 ServoCommander the value 384 = 180h has to be written into the object position_control_gain. As the position controller even transforms smallest deviations into a considerable correction speed, very high correction speeds may occur in case of a short disturbance (e. g. short blocking). This can be avoided if the output of the position controller is adequately limited (e.g. 500 rpm) via the object position_control_v_max. The object position_error_tolerance_window determines the maximum control deviation without reaction of the position controller. Therewith it is possible to even out backlash within the plant.


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Index 60FBh Name position_control_parameter_setObject Code RECORD No. of Elements 4

Sub-Index 01h

Description position_control_gainData Type UINT16 Access rw

PDO Mapping no Units 256 = „1“ Value Range 0...64*256 (16384) Default Value 52 (0,20)

Sub-Index 04h

Description position_control_v_maxData Type UINT32 Access rw

PDO Mapping no Units speed units Value Range 0...32767 min-1

Default Value 500 min-1

Sub-Index 05h

Description position_error_tolerance_windowData Type UINT32 Access rw PDO Mapping no Units position units Value Range 0...65536 (1 R) Default Value 13 (0,00020 R)


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6.6.2.4 Object 6062h: position_demand_value

The current position demand value can be read by this object. This position is fed into the position controller by the trajectory generator. Index 6062h

Name position_demand_valueObject Code VAR

Data Type INT32

Access ro PDO Mapping yes Units position units

Value Range -- Default Value --

6.6.2.5 Objekt 6064h: position_actual_value

The actual position can be read by this objects. This value is given to the position controller by the angle encoder. Index 6064h

Name position_actual_valueObject Code VAR

Data Type INT32

Access ro PDO Mapping yes Units position units Value Range --

Default Value --


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6.6.2.6 Object 6065h: following_error_window

The object following_error_window (trailing error window) defines a symmetrical range around the desired position value (position_demand_value). If the actual position (position_actual_value) is outside the trailing error window (following_ error_window) a trailing error occurs and bit 13 in the object statusword will be set.

The following reasons may cause a trailing error:

- A drive is locked - The positioning speed is too high - The accelerations are too high - The object following_error_window parametrized too small - The position controller is not parametrized correctly. Index 6065h

Name following_error_windowObject Code VAR

Data Type UINT32

Access rw PDO Mapping yes

Units position units Value Range 0...7FFFFFFFh

Default Value 238Eh ( approx. 50 degree )

6.6.2.7 Object 6066h: following_error_time_out

If a trailing error occurs longer than defined in this object bit 13 (following_error) will be set in the statusword. Index 6066h

Name following_error_time_outObject Code VAR

Data Type UINT16

Access rw PDO Mapping

yes

Units ms Value Range 0...26214 Default Value 100


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6.6.2.8 Object 60FAh: control_effort

The output quantity of the position controller can be read via this object. This value is supplied internally to the speed controller as desired value. Index 60FAh

Name control_effortObject Code VAR

INT32

Data Type

Access ro PDO Mapping yes Units speed units Value Range -- Default Value --

6.6.2.9 Object 6067h: position_window

A symmetrical range around the target position (target_position) is defined by the object position_window. If the actual position value (position_actual_value) is within this range the target position (target_position) is regarded as reached. Index 6067h

Name position_windowObject Code VAR

Data Type UINT32

Access rw PDO Mapping yes Units position units Value Range -- Default Value 1820 (1820 / 65536 R = 10°)


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6.6.2.10 Object 6068h: position_window_time

If the actual position of the drive is within the positioning window (position_window) as long as defined in this object bit 10 (target_reached) will be set in the statusword. Index 6068h Name position_window_timeObject Code VAR Data Type UINT16

Access rw PDO Mapping yes Units ms Value Range 0...262146

Default Value 100


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6.7 Analogue inputs

6.7.1 Survey

The servo controller of the DIS-2 series contains two analogue inputs, which can be used to enter a demand value for instance. The analogue inputs can only be parameterized by the DIS-2 ServoCommander.

6.8 Digital In- and Outputs

6.8.1 Survey

All digital inputs can be read by the CAN bus. Two of digital outs can be set by the CAN bus.


Index Object Name Type Attr. 60FDh VAR digital_inputs UINT32 ro 60FEh ARRAY digital_outputs UINT32 rw

6.8.2.1 Object 60FDh: digital_inputs

Using object 60FDh the digital inputs can be read out: Index 60FDh

Name digital_inputsObject Code VAR

Data Type UINT32

Access ro PDO Mapping yes Units -- Value Range according table

Default Value 0


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Bit Value Digital input 0 00000001h Negative limit switch 1 00000002h Positive limit switch 3 00000008h Interlock

(“controller enable” (DIN9) is missing) 16...25 03FF0000h DIN0…DIN9

6.8.2.2 Object 60FEh: digital_outputs

The digital outputs can be set via the object 60FEh. Then the 2 outputs can be set optionally via the object digital_outputs_data. It has to be kept in mind that a delay of up to 10 ms may occur between sending the command and a real reaction of the. The time the outputs are really set can be seen by rereading the object 60FEh. Index 60FEh Name digital_outputsObject Code ARRAY No. of Elements 2 Data Type UINT32

Sub-Index 01h

Description digital_outputs_dataAccess rw

PDO Mapping yes Units -- Value Range -- Default Value 0

Bit Value Digital Outputs 0 00000001h Brake

16 00010000h Operational 17, 18 00060000h DOUT1, DOUT2


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6.9 Limit switches

6.9.1 Survey

For the definition of the reference (zero) position of the servo controller limit switches can be used. Further information concerning reference methods can be found in chapter 8.2, Operating Mode »Homing mode«..


Index Object Name Type Attr. 6510h RECORD drive_data rw

6.9.2.1 Object 6510h_11h: limit_switch_polarity

The polarity of the limit switches can be parametrized by the object 6510h_11h (limit_switch_polarity). For B-contacts (normally closed) zero has to be entered, for A-contacts (normally opened) one. This is valid for both limit switches. Index 6510h

Name drive_dataObject Code RECORD

No. of Elements 44

Sub-Index 11h

Description limit_switch_polarity

Data Type INT16 Access rw PDO Mapping no Units -- Value Range 0, 1 Default Value 1

Value Description

0 B-contact (normally closed)

1 A-contact (normally opened)


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6.9.2.2 Object 6510h_15h: limit_switch_deceleration

The object limit_switch_deceleration determines the deceleration used to stop the motor if a limit switch will be reached during normal operation (limit switch emergency stop). Sub-Index 15h

Description limit_switch_decelerationData Type INT32 Access rw PDO Mapping no Units acceleration units Value Range 0...200000 min-1/s Default Value 200000 min-1/s


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6.10 Device informations Index Object Name Type Attr. 1018h RECORD identity_object rw 6510h RECORD drive_data rw

A huge number of CAN objects have been implemented to read out several device informations like type of servo controller, firmware revision and so on.


6.10.1.1 Object 1018h: identity_object

To identify the servo controller uniquely in a CANopen-network the identity_object according to the DS301 can be used.

A unique manufacturer code (vendor_id), a unique product code (product_code), the revision number of the CANopen implementation (revision_number) and the device serial number (serial_number) can be read. Index 1018h

Name identity_objectObject Code RECORD

No. of Elements 4

Sub-Index 01h

Description vendor_idData Type UINT32 Access ro PDO Mapping no Units -- Value Range 0000003B Default Value 0000003B


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Sub-Index 02h

Description product_codeData Type UINT32 Access ro PDO Mapping no Units -- Value Range s.u. Default Value s.u.

Value Description 1121h DIS-2 48/10 1122h DIS-2 24/8

Sub-Index 03h

Description revision_numberData Type UINT32 Access ro PDO Mapping no Units MMMMSSSSh (M: main version, S: sub version) Value Range --

Default Value

-- Sub-Index 04h

Description serial_numberData Type UINT32 Access ro PDO Mapping no Units -- Value Range --

Default Value --


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6.10.1.2 Object 6510h_A1h: drive_type

The object drive_type returns the type of servo controller. This object is implemented because of terms of compatibility to older versions. Sub-Index A1h

Description drive_typeData Type UINT32 Access ro PDO Mapping no Units Value Range see 1018h_02h, product_code

Default Value

see 1018h_02h, product_code

6.10.1.3 Object 6510h_A9h: firmware_main_version

The object firmware_main_version returns the main revision index of the firmware (product step). Sub-Index A9h

Description

firmware_main_version

Data Type UINT32 Access ro PDO Mapping no Units MMMMSSSSh (M: main version, S: sub version) Value Range -- Default Value --

6.10.1.4 Object 6510h_AAh: firmware_custom_version

The object firmware_custom_version returns the version number of the customer-specific variant of the firmware. Sub-Index AAh

Description firmware_custom_versionData Type UINT32 Access ro PDO Mapping no Units MMMMSSSSh (M: main version, S: sub version) Value Range --

Default Value --


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7 Device Control

7.1 State diagram (State machine)

7.1.1 Survey The following chapter describes how to control the servo controller using CANopen, i.e. how to switch on the power stage or to reset an error. Using CANopen the complete control of the servo is done by two objects. Via the controlword the host is able to control the servo, as the status of the servo can be read out of the statusword. The following items will be used in this chapter:

State: The servo controller is in different states dependent on for instance if the power stage is alive or if an error has occurred. States defined under CANopen will be explained in this chapter. Example: SWITCH_ON_DISABLED

State Transition: Just as the states it is defined as well how to move from one state to another (e.g. to reset an error). These state transitions will be either executed by the host by setting bits in the controlword or by the servo controller itself, if an error occurs for instance.

Command: To initiate a state transition defined bit combinations have to be set in the controlword. Such bit combination are called command. Example: Enable Operation

State diagram: All the states and all state transitions together form the so called state diagram: A survey of all states and the possible transitions between two states.


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7.1.2 The state diagram of the servo controller

Figure 7.9: State diagram of the servo controller

The state diagram can be divided into three main parts: "Power Disabled" means the power stage is switched off and "Power Enabled" the power stage is live. The area "Fault" contains all states necessary to handle errors of the controller.

The most important states have been highlighted in the Figure: After switching on the servo controller initialises itself and reaches the state SWITCH_ON_DISABLED after all. In this state CAN communication is possible and the servo controller can be parametrized (e.g. the mode of operation can be set to "velocity control"). The power stage remains switched off and the motor shaft is freely rotatable. Through the state transitions 2, 3 and 4 – principally like the controller enable under CANopen - the state OPERATION_ENABLE will be reached. In this state the power stage is live and the servo controller controls the motor according to the parametrized mode of operation. Therefore previously ensure that the servo controller has been parametrized correctly and the according demand value is zero.

In case of a fault the servo controller branches independent of the current state lately to the state FAULT. Dependent on the seriousness of the fault several actions can be executed before, for instance an emergency stop (FAULT_REACTION_ACTIVE).


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To execute the mentioned state transitions defined bit combinations have to be set in the controlword. To that the lower 4 bits of the controlword will be evaluated commonly. At first only the important transitions 2, 3, 4, 9 and 15 will be explained. A table of all possible transitions can be found at the end of this chapter.

The following chart contains the desired state transition in the 1st column. The 2nd column contains the condition for the transition (mostly a command by the host, here marked with a frame). How the command has to be built, i.e. what bits have to be set in the controlword, will be shown in the 3rd column (x = not relevant).

Bit combination (controlword) No. Executed if Bit 3 2 1 0

Action

"Enable controller" applying + Command Shutdown Shutdown = 2 None 1 1 0x

Power stage will be switched on 3 Command Switch On Switch On = 1 1 1x

4 Command Enable Operation Enable Operation = 1 1 1 1Motor is controlled according to modes_of_operation

9 Command Disable Voltage Disable Voltage = x x 0 x Power stage is disabled. The motor is freely rotatable

15 Cause of fault remedied + Command Fault Reset Fault Reset = Bit 7 = Reset fault

Figure 7.10: Most important state transitions

EXAMPLE After the servo controller has been parametrized it should be enabled, i.e. the power stage should be switched on: 1.) The servo is in the state SWITCH_ON_DISABLED. 2.) The state OPERATION_ENABLE should be reached. 3.) In accordance to the state diagram (Figure 7.9) the state transitions 2, 3

and 4 have to be executed. 4.) From Figure 7.10 follows:

Transition 2: controlword = 0006h New state: READY_TO_SWITCH_ON *1)

Transition 3: controlword = 0007h New state: SWITCHED_ON *1)

Transition 4: controlword = 000Fh New state: OPERATION_ENABLE *1)

Hints: 1.) The example implies, that no more bits in the controlword are set. (For

the state transitions only the bits 0..3 are necessary). 2.) The state transitions 3 and 4 can be combined by setting the controlword

to 000Fh directly. For the state transition 3 the set bit 3 is irrelevant.

*1) The host has to wait until the requested state can be read in the statusword. This will be explained more exact in the following chapter.


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7.1.2.1 State diagram: States

In the following table all states and their meaning are listed:

Name Meaning

NOT_READY_TO_SWITCH_ON The servo controller executes its selftest. The CAN communication is not working

SWITCH_ON_DISABLED The selftest has been completed. The CAN cimmunication is activated..

READY_TO_SWITCH_ON The servo controller waits until the digital input DIN9 "Enable controller" is connected to 24V. (controller enable logic is set to “digital inputs and CAN”)

SWITCHED_ON *1) The power stagecan be switched on.

OPERATION_ENABLE *1) The motor is under voltage and is controlled according to operational mode

QUICKSTOP_ACTIVE *1) The Quick Stop Function will be executed (see: quick_stop_option_code). The motor is under voltage and is controlled according to the Quick Stop Function.

FAULT_REACTION_ACTIVE *1) An error has occurred. On critical errors switching to state Fault. Otherwise the action according to the fault_reaction_option_code will be executed. The motor is under voltage and is controlled according to the Fault Reaction Function.

FAULT An error has occurred. The power stage has been switched off.

*1) The power stage is alive

7.1.2.2 State diagram: State transitions

The following table lists all state transitions and their meaning:


Action

0 "Power on" or Reset internal transition Execute selftest

1 Self test successful internal transition Activation of the CAN communication

2 "Enable controller" applying + Command Shutdown Shutdown = x 1 1 0 None

3 Command Switch On Switch On = x 1 1 1 Power stage will be switched on

4 Command Enable Operation Enable Operation = 1 1 11Motor is controlled according to operation mode

5 Command Disable Operation Disable Operation = 0 1 1 1 Power stage is disabled. Motor is freely rotatable

6 Command Shutdown Shutdown = x 1 1 0 Power stage is disabled. Motor is freely rotatable

7 Command Quick Stop Quick Stop = x 0 1 x


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Action

0 Power stage is disabled. Motor is freely rotatable 8 Command Shutdown Shutdown = x 1 1

9 Command Disable Voltage Disable Voltage = x x 0 x Power stage is disabled. Motor is freely rotatable

10 Command Disable Voltage Disable Voltage = x x 0 x Power stage is disabled. Motor is freely rotatable

11 Command Quick Stop A braking according to quick_stop_option_code is started.

Quick Stop = x 0 1 x

Braking has ended or

Command Disable Voltage Disable Voltage =12 x x 0 x

Power stage is disabled. Motor is freely rotatable

13 Error occurred internal transition

On non-critical errors reaction according to fault_reaction_option_code. On critical error executing transition 14.

14 Error treating has ended internal transition Power stage is disabled. Motor is freely rotatable

15 Cause of fault remedied + Command Fault Reset Fault Reset = Bit 7 = Reset fault (Rising edge)

Power stage disabled

This means the transistors are not driven anymore. If this state is reached on a rotating motor, the motor coasts down without being braked. If a mechanical motor brake is available it will be locked.

Caution: This does not ensure that the motor is not under voltage.

Power stage enabled

This means the motor will be controlled according to the chosen mode of operation. If a mechanical motor brake is available it will be released. A defect or an incorrect parameter set-up (Motor current, number of poles, resolver offset angle, etc.) may cause an uncontrolled behaviour of the motor.


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7.1.3 controlword

7.1.3.1 Object 6040h: controlword

Via the controlword the state of the servo controller can be changed or a designated action (e.g. starting homing operation) can be executed directly. The meaning of the bits 4, 5, 6 and 8 depends on the actual operation mode (modes_of_operation), which will be explained in the chapter hereafter. Index 6040h

Name controlwordObject Code VAR

Data Type UINT16

Access Rw PDO Mapping Yes Units -- Value Range -- Default Value 0

Bit Value Function 0 0001h

1 0002h

2 0004h

3 0008h

Initiating state transitions. (Bits will be evaluated commonly)

4 0010h new_set_point / start_homing_operation / enable_ip_mode 5 0020h change_set_immediatly 6 0040h absolute / relative 7 0080h reset_fault 8 0100h halt 9 0200h reserved set to 0

10 0400h reserved set to 0 11 0800h reserved set to 0 12 1000h reserved set to 0 13 2000h reserved set to 0 14 4000h reserved set to 0 15 8000h reserved set to 0

Table 7.1: Bit assignment of the controlword


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As described detailed in the previous chapter the bits 0..3 are used to execute state transitions. The necessary commands are summarised in the following chart. The command Fault Reset will be executed on a rising edge of bit 7 (from 0 to 1).

Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 command: 0080h 0008h 0004h 0002h 0001h

Shutdown × × 1 1 0

Switch On × × 1 1 1

Disable Voltage × × × 0 ×

Quick Stop × 0 1 × ×

Disable Operation 0 1 × 1 1

Enable Operation × 1 1 1 1

Fault Reset × × × × Table 7.2: Survey of all commands (× = not relevant)

As some state transitions take time for processing, all changes written into the controlword have to read back from the statusword. Only when the requested status can be read in the statusword, one may write in further commands using the controlword.

Following the remaining bits of the controlword will be explained. The meaning of some bits depends on the actual operation mode (object modes_of_operation), i.e. if the controller will be torque or velocity controlled.

Bit 4 Depending on: modes_of_operation: new_set_point On Profile Position Mode:

A rising edge signals that a new position parameter set should be taken over. In any case see chapter 8.3 as well.

start_homing_operation On Homing Mode:

A rising edge starts the parametrized search for refe-rence. A falling edge stops the search immediately.

enable_ip_mode On Interpolated Position Mode:

This bit has to be set to evaluate the interpolation data. It will be acknowledged by the bit ip_mode_active in the statusword. In any case see chapter 8.4 as well.


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Bit 5 change_set_immediatly Only on Profile Position Mode: If this bit is cleared a current positioning order will

be processed before starting a new one. If this bit is set a current positioning order will be interrupted by the new one. See also chapter 8.3.

Bit 6 relative Only on Profile Position Mode: If this bit is set, the target_position of the current

positioning job, will be added to the position_demand_value of the position controller.

Bit 7 reset_fault On a rising edge the servo controller tries to reset the

present errors. This will only succeed if the cause of error has been remedied.

Bit 8 Depending on modes_of_operation: halt On Profile Position Mode:

If this bit is set the current positioning will be can-celled according to the object profile_deceleration. After stopping the bit target_reached (statusword) will be set. Resetting this bit has no effect.

halt On Profile Velocity Mode:

If this bit is set the velocity will be reduced to zero according to the profile_deceleration. Resetting this bit will accelerate the motor again.

halt On Profile Torque Mode:

If this bit is set the torque will be reduced to zero according to the torque_slope. Resetting this bit will accelerate the motor again

halt On Homing mode:

If this bit is set the current homing operation will be cancelled and a homing error will be generated. Resetting this bit has no effect.


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7.1.4 Reading the status of the servo controller Similar to initiating several commands by setting bits of the controlword, the state of the servo controller can be read by specific bit combinations in the statusword. The following chart lists all states of the state diagram and their respective bit combination occurring in the statusword.

Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 State 0040h 0020h 0008h 0004h 0002h 0001h

Mask Value

NOT_READY_TO_SWITCH_ON 0 0 0 0 0 004Fh 0000h× SWITCH_ON_DISABLED 1 × 0 0 0 0 004Fh 0040h

READY_TO_SWITCH_ON 0 1 0 0 0 1 006Fh 0021h

SWITCHED_ON 0 1 0 0 1 1 006Fh 0023h

OPERATION_ENABLE 0 1 0 1 1 1 006Fh 0027h

FAULT 0 1 1 1 1 × 004Fh 000Fh

FAULT_REACTION_ACTIVE 0 × 1 1 1 1 004Fh 000Fh

QUICK_STOP_ACTIVE 0 0 0 1 1 1 006Fh 0007h

Table 7.3: States of device (× = not relevant)

EXAMPLE The above mentioned example shows, what bits in the controlword have to be set to enable the servo controller. Now the requested state should be read out of the statusword: Transition from SWITCH_ON_DISABLED to OPERATION_ENABLE: 1.) Write state transition 2 into the controlword. 2.) Wait until state READY_TO_SWITCH_ON occurs in the statusword.

Transition 2: controlword = 0006h Wait until (statusword & 006Fh) = 0021h *1)

3.) The state transitions 3 and 4 can be written combined into the controlword.

4.) Wait, until the state OPERATION_ENABLE occurs in the statusword.

Transition 3+4: controlword = 000Fh Wait until (statusword & 006Fh) = 0027h *1)

Hint: 3.) The example implies, that no more bits in the controlword are set. (For

the state transitions only the bits 0..3 are necessary). *1)To identify a state also cleared bits have to be evaluated (see table). Therefore the

statusword has to be masked properly.


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7.1.5 statusword

7.1.5.1 Object 6041h: statusword

Index 6041h

Name statuswordObject Code VAR

Data Type

UINT16

Access ro PDO Mapping

yes


Bit Value Name 0 0001h

1 0002h

2 0004h

3 0008h

State of the servo controller (see Table 7.3) (These bits have to be evaluated commonly)

4 0010h voltage_enabled

5 0020h

6 0040h

State of the servo controller (see Table 7.3)

7 0080h warning

8 0100h unused

9 0200h remote

10 0400h target_reached

11 0800h internal_limit_active

12 1000h set_point_acknowledge / speed_0 / homing_attained / ip_mode_active

13 2000h following_error / homing_error

14 4000h unused

15 8000h reserved

Table 7.4: Bit assignment of the statusword

All bits of the statusword are not buffered and therefore representing the actual state of the device.


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In addition to the state of the device several informations can be read out directly of the statusword, i.e. every bit is assigned a specific event like a following error. The meaning of the bits is as follows:

Bit 4 voltage_disable This bit is set if the transistors of the power stage switched

off.

CAUTION: On a defect the motor may still be under voltage.

Bit 5 quick_stop If this bit is cleared a Quick Stop will be executed

according to the quick_stop_option_code.

Bit 7 warning This bit is undefined. It must not be evaluated. Bit 8 manufacturer specific This bit is undefined. It must not be evaluated. Bit 9 remote This bit indicates that the power stage can be enabled via

the can bus. It is set if the object enable_logic is set accordingly.

Bit 10 Depends on modes_of_operation:

target_reached On Profile Position Mode:

This bit will be set if the actual position (position_ actual_value) is within the parametrized position window (position_window).

It will also be set if the motor stops after setting the bit halt in the controlword.

It will be cleared if a new positioning is started. target_reached On Profile Velocity Mode:

The bit will be set if the actual velocity (velocity_actual_value) is within the parametrized velocity window. This window can be adjusted by the DIS-2 ServoCommander.

Bit 11 internal_limit_active This bit indicates that the iit limitation is active.


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set_point_acknowledge On Profile Position Mode:

This bit will be set to acknowledge the bit new_set_point in the controlword. It will be cleared if the bit new_set_point will be cleared. See chapter 8.3 as well.

speed_0 On Profile Velocity Mode:

This bit will be set if the velocity_actual_value is within the window determined by the object.

homing_attained On Homing mode:

This bit will be set if the homing operation has been finished without an error.

ip_mode_active On Interpolated Position Mode:

This bit signals an active interpolation, i.e. interpolation data is evaluated. It will be set if requested by the bit enable_ip_mode in the controlword. In any case see chapter 8.4 as well.


following_error On Profile Position Mode:

This bit will be set if the position_actual_value differs from the position_demand_value so much that the difference is out of the tolerance window determined by the objects following_error_window and following_ error_time_out.

homing_error On Homing Mode:

This bit will be set if a homing operation was cancelled by setting the bit halt in the controlword, if both limit switches are closed or the search for the switch exceeds the predefined positioning limits.

Bit 14 unused

This bit is unused at present. It must not be evaluated.

Bit 15 reserved manufacturer specific

This bit must not be evaluated.


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8 Operating Modes

8.1 Adjustment of the Operating Mode

8.1.1 Survey The servo controllers of the ARS 2000 series are able to work in a lot of different operation modes. Only some of them are specified in detail in the CANopen specification:

• torque controlled operation • speed controlled operation • homing operation (search for reference) • positioning operation • interpolated position mode



Index Object Name Type Attr. 6060h VAR modes_of_operation INT8 wo 6061h VAR modes_of_operation_display INT8 ro


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8.1.2.2 Object 6060h: modes_of_operation

The operating mode of the servo controller is determined by the object modes_of_operation. By reading this object the last sended mode is read out. This is not corresponding to the current operation mode of the servo control Index 6060h

Name modes_of_operationObject Code VAR

Data Type INT8

Access rw PDO Mapping yes Units -- Value Range 1, 3, 4, 6, 7 Default Value --

Value Operation mode

1 Profile Positioning Mode (position controller with positioning operation)

3 Profile Velocity Mode (speed controller with setpoint ramp) 4 Torque Profile Mode (torque controller with setpoint ramp) 6 Homing mode (homing operation) 7 Interpolated Position Mode

The current operating mode can only be read in the object modes_of_operation_display. As a change of the operating mode might require some time to process, one will have to wait until the new selected mode appears in the object modes_of_operation_display.


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8.1.2.3 Object 6061h: modes_of_operation_display

The current operating mode of the servo controller can be read in the object modes_of_operation_display. An internal mode is readed if internal slelctors are set in that way that no CANopen mode is possible until a CANopen spezific mode is selected. Index 6061h

Name modes_of_operation_displayObject Code VAR Data Type INT8

Access ro PDO Mapping yes

Units -- Value Range -1, 1, 3, 4, 6, 7, -11, -12, -13, -14, -15 Default Value 3

Value Operation mode

-1 Unknown operating mode under CANopen 1 Profile Positioning Mode (position controller with positioning

operation) 3 Profile Velocity Mode (speed controller with setpoint ramp) 4 Torque Profile Mode (torque controller with setpoint ramp) 6 Homing mode (homing operation) 7 Interpolated Position Mode

-11 Internal positioning mode -12 Internal velocity control without ramps -13 Internal velocity control with ramps -14 Internal torque mode -15 Internal position controller active

The operating mode can only be set via the object modes_of_operation. As a change of the operating mode might require some time, one will have to wait until the new selected mode appears in the object modes_of_operation_display. During this period of time it could happen that invalid operating modes (-1) are displayed for a short time.


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8.2 Operating Mode »Homing mode«

8.2.1 Survey This chapter describes how the servo controller searches the start position (also called reference point or zero point). There are various methods to determine this position. Either the limit switches at the end of the positioning range can be used or a reference switch (zero point switch) within the possible range of motion. Among some methods the zero impulse of the used encoder (resolver, incremental encoder, etc.) can be included to achieve a state that can be reproduced as good as possible.

Figure 8.1: Homing Mode The user can determine the velocity, acceleration, and the kind of homing operation. After the servo controller has found its reference the zero position can be moved to the desired point via the object home_offset. There are two kinds of speed for the homing operation. The higher search speed (speed_during_search_for_switch ) is used to find the limit switch respectively the reference switch. To determine the reference slope exactly a lower speed is used (speed_during_search_for_zero) .

The movement to the zero position is in most cases not part of the homing operation. If all required values are known (i.e. if the zero position is already known by the servo controller), no physical motion will be executed.


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Index Object Name Type Attribute 607Ch VAR home_offset INT32 rw 6098h VAR homing_method INT8 rw 6099h ARRAY homing_speeds UINT32 rw 609Ah VAR homing_acceleration UINT32 rw


Index Object Name Type Chapter 6040h VAR controlword UINT16 7 Device control 6041h VAR statusword UINT16 7 Device control

8.2.2.3 Object 607Ch: home_offset

The object home_offset determines the displacement of the zero position to the limit resp. reference switch position.

HomePosition

home_offset

ZeroPosition

Figure 8.2: Home Offset

Index 607Ch

Name home_offsetObject Code VAR Data Type INT32

Access rw PDO Mapping yes Units position units Value Range --

Default Value 0


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8.2.2.4 Object 6098h: homing_method

A number of different methods are available for a homing operation. The method that is necessary for the application can be selected via the object homing_method. There are four possible signals for the homing operation: The negative and positive limit switch, the reference switch and the (periodic) zero impulse of the angle encoder. Besides this the controller can refer to the negative or positive endstop without additional signal. If a method has been determined via the object homing_method the following parameters are fixed by that:

• The signal for reference (neg./pos. limit switch, neg. / pos. endstop) • The direction and process of the homing operation • The kind of evaluation of the zero impulse of the used angle encoder.

Index 6098h

Name

homing_method

Object Code VAR Data Type INT8

Access rw PDO Mapping yes Units Value Range -18, -17, -2, -1, 1, 2, 17, 18, 32, 33, 34 Default Value 17

Value Direction Target Reference point for Home position

-18 Positive Endstop Endstop -17 Negative Endstop Endstop -2 Positive Endstop Zero impulse -1 Negative Endstop Zero impulse 1 Negative Limit switch Zero impulse 2 Positive Limit switch Zero impulse

17 Negative Limit switch Limit switch 18 Positive Limit switch Limit switch 33 Negative Zero impulse Zero impulse 34 Positive Zero impulse Zero impulse 35 No run Actual position

The homing sequence of the respective methods is explained more detailed in the following.

8.2.2.5 Object 6099h: homing_speeds

This object determines the speeds which are used during the homing operation.


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Index 6099h

Name homing_speedsObject Code ARRAY No. of Elements 2

Data Type UINT32

Sub-Index 01h

Description

speed_during_search_for_switch

Access rw PDO Mapping yes Units speed units Value Range --

100 min-1Default Value Sub-Index 02h

Description speed_during_search_for_zeroAccess rw PDO Mapping yes Units speed units Value Range -- Default Value 10 min-1


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8.2.2.6 Object 609Ah: homing_acceleration

The objects homing_acceleration determine the acceleration which is used for all acceleration and deceleration operations during the search for reference. Index 609Ah

Name homing_accelerationObject Code

VAR UINT32

Data Type

Access rw PDO Mapping yes Units acceleration units Value Range -- Default Value 250 min-1 / s

For the homing mode the servo has 4 variables which differs in two for the index searching and two for the crawl mode.

In case of having all necessary values for computing the zero Position, no movement happens. This is the case, for instance, if the northmarker is selected for the homing.


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8.2.3 Homing sequences The various homing sequences are pictured in the following figures. Die encirceled number correspond to the number of the object homing_method.

8.2.3.1 Method 1: Negative limit switch using zero impulse evaluation

If this method is used the drive first moves relatively quick into the negative direction until it reaches the negative limit switch. This is displayed in the diagram by the rising edge. Afterwards the drive slowly returns and searches for the exact position of the limit switch. The zero position refers to the first zero impulse of the angle encoder in positive direction from the limit switch.

Figure 8.3: Homing operation to the negative limit switch including evaluation of the zero impulse

8.2.3.2 Method 2: Positive limit switch using zero impulse evaluation

If this method is used the drive first moves relatively quick into the positive direction until it reaches the positive limit switch. This is displayed in the diagram by the rising edge. Afterwards the drive slowly returns and searches for the exact position of the limit switch. The zero position refers to the first zero impulse of the angle encoder in negative direction from the limit switch.

Figure 8.4: Homing operation to the positive limit switch including evaluation of the zero impulse


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8.2.3.3 Method 17: Homing operation to the negative limit switch

If this method is used the drive first moves relatively quick into the negative direction until it reaches the negative limit switch. This is displayed in the diagram by the rising edge. Afterwards the drive slowly returns and searches for the exact position of the limit switch. The zero position refers to the descending edge from the negative limit switch.

Figure 8.5: Homing operation to the negative limit switch

8.2.3.4 Method 18: Homing operation to the positive limit switch

If this method is used the drive first moves relatively quick into the positive direction until it reaches the positive limit switch. This is displayed in the diagram by the rising edge. Afterwards the drive slowly returns and searches for the exact position of the limit switch. The zero position refers to the descending edge from the positive limit switch.

Figure 8.6: Homing operation to the positive limit switch


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8.2.3.5 Method -1: Negative stop evaluating the zero impulse

If this method is used the drive moves into negative direction until it reaches the stop. The I²t integral of the motor reaches a maximum value of 90%. The stop has to be mechanically dimensioned so that it is not damaged in case of the parametrized maximum current. The zero position refers to the first zero impulse of the angle encoder in positive direction from the stop.

Figure 8.7: Homing operation to the negative stop evaluating the zero impulse

8.2.3.6 Method -2: Positive stop evaluating the zero impulse

If this method is used the drive moves into positive direction until it reaches the stop. The I²t integral of the motor reaches a maximum value of 90%. The stop has to be mechanically dimensioned so that it is not damaged in case of the parametrized maximum current. The zero position refers to the first zero impulse of the angle encoder in negative direction from the stop.

Figure 8.8: Homing operation to the positive stop evaluating the zero impulse


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8.2.3.7 Methods 33 and 34: Homing operation to the zero impulse

For the methods 33 and 34 the direction of the homing operation is negative and positive, respectively. The zero position refers to the first zero impulse from the angle encoder in search direction.

Figure 8.9: Homing operation only referring to the zero impulse

8.2.3.8 Method 35: Homing operation to the current position

On method 35 the zero position is referred to the current position.

8.2.4 Control of the homing operation The homing operation is started by setting bit 4 in the controlword. The successful end of a homing operation is indicated by a set bit 12 in the object statusword. A set bit 13 in the object statusword indicates that an error has occurred during the homing operation. The error reason can be identified by the objects error_register and pre-defined_error_field. Bit 4 Description

0 Homing operation is not active 0 → 1 Start homing operation 1 Homing operation is active 1 → 0 Interrupt homing operation

Table 8.1: Description of the bits in the controlword

Bit 13 Bit 12 Desription 0 0 Homing operation has not yet finished 0 1 Homing operation executed successfully 1 0 Homing operation not executed successfully 1 1 Illegal state

Table 8.2: Description of the bits in the statusword


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8.3 Operating Mode »Profile Position Mode«

8.3.1 Survey The structure of this operating mode is shown in Figure 8.10:

The target position (target_position) is passed to the trajectory generator. This generator generates a desired position value (position_demand_value) for the position controller that is described in the chapter Position Controller (position control function, chapter 6.6). These two function blocks can be adjusted independently from each other.

PositionControl

Function

TrajectoryGenerator

position_demand_value(6062h)

target_position(607Ah)

LimitFunction

[position units]target_postion(607Ah)

control_effort(60FAh)

Trajectory GeneratorParameters

home_offset(607Ah)

Multiplier

position_factor(6093h)polarity(607Eh)

position

Figure 8.10: Trajectory generator and position controller

All input quantities of the trajectory generator are converted into internal quantities of the controller by means of the quantities of the Factor group (see chapter 6.2: Conversion factors (Factor Group)). The internal quantities are marked by an asterisk and are not imperatively needed by the user.


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Trajectory Generator

Target Position*

Profile Velocity*End Velocity*

Profile Acceleration*Profile Deceleration*Quick StopDeceleration*

Motion Profile Type

Multiplier

velocity_encoder_factor (6094h)polarity (607Eh) [inc]

motion_profile_type (6086h)

position

velocity

Multiplier

acceleration_factor (6094h)

velocity

position_demand_value*

Figure 8.11: The trajectory generator



Index Object Name Type Attr. 607Ah VAR target_position INT32 rw 6081h VAR profile_velocity UINT32 rw 6082h VAR end_velocity UINT32 rw 6083h VAR profile_acceleration UINT32 rw 6084h VAR profile_deceleration UINT32 rw 6085h VAR quick_stop_deceleration UINT32 rw 6086h VAR motion_profile_type INT16 rw


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Index Object Name Type Chapter 6040h VAR controlword INT16 6.10 Device control

6041h VAR statusword UINT16 6.10 Device control

605Ah VAR quick_stop_option_code INT16 6.10 Device control


6093h ARRAY position_factor UINT32 6.2 Conversion factors (Factor Group)


6097h ARRAY acceleration_factor UINT32 6.2 Conversion factors (Factor Group)

8.3.2.3 Object 607Ah: target_position

Das Object target_position (Zielposition) bestimmt, an welche Position der Antriebs-The object target_position determines the destination the servo controller moves to. For this purpose the current adjustments of the velocity, of the acceleration, of the deceleration and the kind of motion profile (motion_profile_type) have to be considered. The target position (target_position) is interpreted either as an absolute or relative position. This depends on bit 6 (relative) of the object controlword. Index 607Ah

Name target_positionObject Code VAR

Data Type INT32

Access rw PDO Mapping yes Units position units Value Range --

Default Value 0


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8.3.2.4 Object 6081h: profile_velocity

The object profile_velocity specifies the speed that usually is reached during a positioning motion at the end of the acceleration ramp. The object profile_velocity is specified in speed_units. Index 6081h

Name profile_velocityObject Code VAR

Data Type UINT32

Access rw PDO Mapping

yes

Units speed units Value Range -- Default Value 0

8.3.2.5 Object 6082h: end_velocity

The object end_velocity defines the speed at the target position (target_position). This object has to be set to zero so that the controller stops when it reaches the target position. A gap-less positioning with a speed high then 0 is not supported. The object end_velocity is specified in speed_units like the object profile_velocity. Index 6082h

Name end_velocityObject Code VAR

UINT32

Data Type

Access rw PDO Mapping yes Units speed units Value Range 0

Default Value 0


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8.3.2.6 Object 6083h: profile_acceleration

The object profile_acceleration determines the maximum acceleration used during a positioning motion. It is specified in user specific acceleration units (acceleration_units). (see 6.2 Conversion factors (Factor Group)). Index 6083h

Name profile_accelerationObject Code VAR

Data Type UINT32

Access rw PDO Mapping yes Units acceleration units

Value Range -- 10000 min-1 /s Default Value

8.3.2.7 Object 6084h: profile_deceleration

The object profile_deceleration specifies the maximum deceleration used during a positioning motion. This object is specified in the same units as the object profile_acceleration. (see chapter 6.2 Conversion factors (Factor Group)). Index 6084h

Name profile_decelerationObject Code VAR

Data Type UINT32

Access rw PDO Mapping yes Units speed units Value Range --

10000 min-1 /s Default Value


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8.3.2.8 Object 6085h: quick_stop_deceleration

The object quick_stop_deceleration determines the deceleration if a Quick Stop will be executed (see chapter 7.1.2.2) The object quick_stop_deceleration is specified in the units as the object profile_deceleration. Index 6085h

Name quick_stop_decelerationObject Code VAR Data Type UINT32

Access rw PDO Mapping yes Units acceleration units Value Range --

Default Value 250000 min-1 /s

8.3.2.9 Object 6086h: motion_profile_type

The object motion_profile_type is used to select the kind of positioning profile. A linear mode an a jerk-less mode is supported. Index 6086h

Name motion_profile_type


Access rw PDO Mapping yes Units -- Value Range 0, 1

Default Value 0

Value Profile 0 Linear ramp 3 Jerk-less acceleration


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8.3.3 Functional Description

Two modes can be choosen for doing a positioning.

1.) Single setpoints

After reaching the target_position the servo controller signals this status to the host by the bit target_reached (Bit 10 of controlword) and then receives a new setpoint. The servo controller stops at the target_position. The next position set can be send while the previous positioning is processed. After ending it, the new set is started direct after finishing the previous positioning

2.) Interupt of a running positioning

The ongoing positioning is interrupted and the new one is executed directly.

These two methods are controlled by the bits new_set_point and change_set_immediately in the object controlword and set_point_acknowledge in the object statusword. These bits are in a request-response relationship. So it is possible to prepare one positioning job while another job is still running.

Figure 8.12: Positioning job transfer from a host

Figure 8.12 shows the communication between the host and the servo controller via the CAN bus: At first the positioning data (target_position, profile_velocity, end_velocity and profile_acceleration) are transferred to the servo controller. After the positioning data set has been transferred completely (1) the host can start the positioning motion by setting the bit new_set_point in the controlword (2). This will be acknowledged by the servo controller by setting the bit set_point_acknowledge in the statusword (3), when the positioning data has been copied into the internal buffer. Afterwards the host can start to transfer a new positioning data set into the servo controller (4) and clear the bit new_set_point (5). The servo controller signals by a cleared set_point_acknowledge bit that it can accept a new drive job (6). The host has


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to wait for the falling edge of the bit set_point_acknowledge before a new positioning motion can be started (7). In Figure 8.13 a new positioning motion is started after the previous one has been finished completely. For that purpose the host evaluates the bit target_reached in the object statusword.

v2

v1

t0 t3t1 t2 Time

Velocity

Figure 8.13: Simple positioning job

Figure 8.14 a new positioning motion has already been started while the previous motion was still running (t1 = t2). If beside the bit new_setpoint the bit change_set_immediately is set in the controlword, too, the new positioning job will interrupt the actual job immediately and will be started instead. The actual positioning job is canceled in this case. The host already transfers the subsequent target to the servo controller if it signals by a cleared setpoint_acknowledge bit that it has read the buffer and started the corresponding positioning motion.

v2

v1

t0 t3t2 t1 Time

Velocity

Figure 8.14: Gapless sequence of positioning jobs

If an ongoing positioning is interrupted by an positioning set marked as relative, it is not possible to say where the new target is. This is because the time for the interrupt is not known.


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8.4 Interpolated Position Mode

8.4.1 Survey The interpolated position mode (IP) allows cyclic sending of position demand values to the servo in a multi-axle system. Therefore the host sends synchronisation telegrams (SNYC) and position demand values in a fixed interval (synchronisation interval). The servo controller itself interpolates between two setpoints, if the synchronisation interval is larger than the position control interval as shown in the following figure:

Figure 8.15: Linear interpolation between two positions

In the following the objects of the interpolated position mode will be described first. After it a functional description will explain the activation and the order of parameterisation detailed.


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Index Object Name Type Attr. 60C0h VAR interpolation_submode_select INT16 rw 60C1h REC interpolation_data_record rw 60C2h REC interpolation_time_period rw 60C3h VAR interpolation_sync_definition rw 60C4h REC interpolation_data_configuration rw

8.4.2.2 Affected objects of other chapters

Index Object Name Type Chapter 6040h VAR controlword INT16 7 Device control

6041h VAR statusword UINT16 7 Device control

6093h ARRAY position_factor UINT32 6.2 Conversion factors (Factor Group)


6097h ARRAY acceleration_factor UINT32 6.2 Conversion factors (Factor Group)

8.4.2.3 Object 60C0h: interpolation_submode_select

The obejct interpolation_submode_select determines the type of interpolation. Only the manufacturer specific type „Linear interpolation without buffer“ is available. Index 60C0h Name interpolation_submode_selectObject Code VAR Data Type INT16

Access rw PDO Mapping yes Units -- Value Range -2

Default Value -2

Value Type of interpolation

-2 Linear interpolation without buffer


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8.4.2.4 Object 60C1h: interpolation_data_record

The object record interpolation_data_record represents the interpolation data itself. It contains the position demand value (ip_data_position) and a controlword (ip_data_control-word), that determines whether the position value is relative or absolute. The use of the controlword is optional. If it should be used it is neccessary to write subindex 2 first (ip_data_controlword) followed by subindex 1 (ip_data_position) to achieve data consistence, because the position will be copied by a write access to ip_data_position. Index 60C1h Name interpolation_data_recordObject Code RECORD No. of Elements 2

Sub-Index 01h

Description ip_data_positionData Type INT32 Access rw

PDO Mapping yes Units position units Value Range -- Default Value --


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8.4.2.5 Object 60C2h: interpolation_time_period

Using the object record interpolation_time_period the synchronisation interval can be determined. First the unit (ms oder 1/10 ms) can be set by the object ip_time_index. After that the interval can be written to ip_time_units. The external clock has to have a high precision.

Index 60C2h

Name interpolation_time_period

Object Code RECORD No. of Elements 2

Sub-Index 01h

Description ip_time_unitsData Type UINT8 Access rw PDO Mapping yes Units according to ip_time_index

Value Range ip_time_index = -3: 8...40 ip_time_index = -4: 80...400

Default Value -- Sub-Index 02h

Description

ip_time_index

Data Type INT8 Access rw PDO Mapping yes Units -- Value Range -3, -4 Default Value -4

Value ip_time_units will be written in -3 10-3 seconds (ms) -4 10-4 seconds (0.1 ms)

8.4.2.6 Object 60C4h: interpolation_data_configuration

By the object record interpolation_data_configuration the kind (buffer_organisation) and size (max_buffer_size, actual_buffer_size) of a possibly available buffer can be set. Additionally the access can be controlled by the objects buffer_position and buffer_clear. The object size_of_data_record returns the size of one buffer item. Even though no buffer is available for the interpolation type „linear interpolation without buffer“, the access has to be enabled using the object buffer_clear.


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Index 60C4h

Name

interpolation_data_configurationObject Code RECORD No. of Elements 6

Sub-Index 01h

Description max_buffer_sizeData Type UINT32 Access ro PDO Mapping no Units -- Value Range 0

Default Value 0

Sub-Index 02h

Description actual_sizeData Type UINT32 Access rw PDO Mapping yes Units -- Value Range 0...max_buffer_size

Default Value 0

Sub-Index 03h

Description buffer_organisationData Type UINT8 Access rw PDO Mapping yes Units -- Value Range 0

Default Value

0

Value Description 0 FIFO


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Sub-Index 04h Description buffer_positionData Type UINT16 Access rw PDO Mapping yes Units -- Value Range 0 Default Value 0

Sub-Index 05h

Description size_of_data_recordData Type UINT8 Access wo PDO Mapping yes Units -- Value Range 2 Default Value 2

Sub-Index 06h

Description buffer_clearData Type UINT8 Access wo PDO Mapping yes Units -- Value Range 0, 1 Default Value 0

Value Description 0 Clear buffer / Access to 60C1h disabled 1 Access to 60C1h enabled


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8.4.3 Functional Description

8.4.3.1 Preliminary parameterisation

Before the interpolated position mode can be entered, several settings have to be done: The interpolation interval (interpolation_time_period), i.e the time between two SYNC messages, the kind of interpolation (interpolation_submode_select). Additionally the access to the position buffer has to be enabled by the object buffer_clear .

EXAMPLE Task CAN object / COB

Interpolation type -2 60C0h, interpolation_submode_select = -2

Time unit 0.1 ms 60C2h_02h, interpolation_time_index = -04

Time interval 8 ms 60C2h_01h, interpolation_time_units = 80

Enable buffer 1 60C4h_06h, buffer_clear = 1

Create SYNCs SYNC (every 8 ms)

8.4.3.2 Activation of the Interpolated Position Mode and first synchronisation

The IP will be activated by the object modes_of_operation (6060 )h . On success the interpolated position mode will be displayed in the object modes_of_operation_display (6061h). At this time internal selectors are changed to position control operation. The setpoint from the CAN bus are transferred to the position controller and extrapolated if necessary to meet the time interval.

If the interpolated position mode is reached the transmission of position data can be started. For logical reasons the host first reads the position actual value of the servo controller and transmits it cyclically as demand value (interpolation_data_record). After that the accep-tance of the data can be enabled by handshake bits of the controlword and the statusword. By setting the bit enable_ip_mode in the controlword the host signals that the position data should be evaluated. The position data will not be processed until the servo controller acknowledges that with setting bit ip_mode_selected in the statusword.

This results in the following sequence:


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Figure 8.16: IP-Activation and data processing

No. Event CAN object 1 Create SYNC messages

2 Request the operation mode „IP“ 6060h, modes_of_operation = 07

3 Wait for the operation mode 6061h, modes_of_operation_display = 07

4 Read actual position 6064h, position_actual_value

5 Rewrite it as demand value 60C1h_01h, ip_data_position

6 Start interpolation 6040h, controlword, enable_ip_mode

7 Wait for acknowledge 6041h, statusword, ip_mode_active

8 Change position setpoints according to the desired trajectory

60C1h_01h, ip_data_position

To prevent the further evaluation of position data the bit enable_ip_mode can be cleared and the operation mode can be changed after that.


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8.4.3.3 Interruption of interpolation in case of an error.

If a currently running interpolation (ip_mode_active set) will be interrupted by the occurance of an error, the servo controller reacts as specified for the certain error (i.e. disabling the controller and changing to the state SWICTH_ON_DISABLED).

The interpolation can only be restarted by a restart of the IP-mode, because the state OPERATION_ENABLE has to be entered again, whereby the bit ip_mode_active will be cleared.


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8.5 Profile Velocity Mode

8.5.1 Survey The profile velocity mode includes the following subfunctions:

• Setpoint generation by the ramp generator

• Speed recording via the angle encoder by differentiation

• Speed control with suitable input and output signals

• Limitation of the desired torque value (torque_demand_value)

• Control of the actual speed (velocity_actual_value) with the window-function/threshold

The meaning of the following parameters is described in the chapter Profile Position Mode: profile_acceleration, profile_deceleration, quick_stop


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Differentiationd/dt

VelocityController

WindowComparator

Timer

position_actual_value(6063h)

velocity_actual_value(606Ch)

velocity_demand_value(606Bh)

velocity_control_parameter_set(60F9h)

velocity_window_time

velocity_actual_value(606Ch)

velocity_window

control effort

status_word(6041h)

velocity = 0

status_word(6041h)

velocity_reached

Figure 8.17: Structure of the Profile Velocity Mode



Index Object Name Type Attr. 6069h VAR velocity_sensor_actual_value INT32 ro 606Bh VAR velocity_demand_value INT32 ro 606Ch VAR velocity_actual_value INT32 ro 6080h VAR max_motor_speed UINT32 rw 60FFh VAR target_velocity INT32 rw


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Index Object Name Type Chapter 6040h VAR controlword INT16 7. Device control

6041h VAR statusword UINT16 7. Device control

6063h VAR position_actual_value* INT32 6.6 Position Control Function

6069h VAR velocity_sensor_actual_value INT32 6.6 Position Control Function

6071h VAR target_torque INT16 8.6 Profile Torque Mode

6072h VAR max_torque_value UINT16 8.6 Profile Torque Mode


6083h VAR profile_acceleration UINT32 8.3 Operating Mode »Profile Position Mode«

6084h VAR profile_deceleration UINT32 8.3 Operating Mode »Profile Position Mode«

6085h VAR quick_stop_deceleration UINT32 8.3 Operating Mode »Profile Position Mode«

6086h VAR motion_profile_type INT16 8.3 Operating Mode »Profile Position Mode«


8.5.2.3 Object 6069h: velocity_sensor_actual_value

The speed encoder is read via the object velocity_sensor_actual_value. The value is normalised in internal units. As no external speed encoder can be connected to servo controllers of the DIS-2, the actual velocity value always has to be read via the object 606Ch. Index 6069h

Name velocity_sensor_actual_valueObject Code VAR

Data Type INT32

Access ro PDO Mapping yes Units Increments / sec Value Range --

Default Value --

8.5.2.4 Object 606Bh: velocity_demand_value

The velocity demand value can be read via this object. It will be influenced by the ramp generator and the trajectory generator respectively. Besides this the correction speed of the position controller is added if it is activated.


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Index 606Bh

Name velocity_demand_valueObject Code VAR

Data Type INT32

Access ro PDO Mapping yes Units speed units Value Range --

Default Value --

8.5.2.5 velocity_actual_value

The actual velocity value can be read via the object velocity_actual_value. Index 606Ch

Name velocity_actual_valueObject Code VAR

Data Type INT32

Access ro PDO Mapping yes Units speed units Value Range --

Default Value --


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8.5.2.6 Object 6080h: max_motor_speed

The object max_motor_speed specifies the maximum permissible speed for the motor in rpm. The object is used to protect the motor and can be taken from the motor specifications. The velocity set point value is limited to the value of the object max_motor_speed. Index 6080h

Name max_motor_speedObject Code VAR

Data Type UINT16

Access rw PDO Mapping yes Units min-1

Value Range 0... 32768 min-1

Default Value 3000 min-1

8.5.2.7 Object 60FFh: target_velocity

The object target_velocity is the setpoint for the ramp generator. Index 60FFh

Name target_velocityObject Code VAR

Data Type INT32

Access Rw PDO Mapping Yes Units speed units Value Range --

Default Value --

8.5.3 Object: Speed-Ramps

All inputs of the speed setpoint selector (default on AIN0) are feed to a ramp generator for smoothing sudden speed changes.

The ramps can be adjusteted by the following objects depending of rising, falling ramp and positive negative polarity of the speed setpoint.

If the mode profile_velocity_mode is selected all 4 ramps become active. It is not possible to deactivate the ramps by the CAN bus.


Seite 129

The relation between the velocity ramps and the profile acceleration is shown in the following schematic.

Internal controllerparameters

Decellaration negative

Decellaration positivDecellaration positiv

Accellaration negative

Accellaration positve

Figure 8.18: Relation of the ramps

8.5.3.1 Object 2090h: velocity_ramps

The meaning of the objects can be seen in the following drawing:

Setpoints befor the ramps are appliedSetpoinst after applying the ramps

Figure 8.19: Bedeutung der Velocity_ramps


Seite 130

Index 2090hName velocity_ramps Object Code RECORD

No. of Elements 5

Sub-Index 02h

Description velocity_acceleration_pos Data Type UINT32

Access rw PDO Mapping no Units -- Value Range 0...231-1 Default Value 01E84800h

Sub-Index 03h

Description velocity_deceleration_pos Data Type UINT32 Access rw PDO Mapping no Units -- Value Range 0...231-1

Default Value 01E84800h

Sub-Index 04h

Description velocity_acceleration_neg

Data Type UINT32 Access rw PDO Mapping no Units --

0...231-1 Value Range

Default Value 01E84800h Sub-Index 05h

Description velocity_deceleration_neg Data Type UINT32 Access rw PDO Mapping no Units -- Value Range 0...231-1

Default Value 01E84800h


Seite 131

8.6 Profile Torque Mode

8.6.1 Survey This chapter describes the torque controlled operation. This operating mode offers the chance to demand an external torque value (target_torque). So it is also possible to use this servo controller for trajectory control functions where both position controller and speed controller are dislocated to an external computer.

LimitFunction

TorqueControl

and

PowerStage

LimitFunction

motor_rated_torque(6076h)

max_torque(6072h)

motor_rated_current(6075h)

max_current(6073h)

Motor

torque_demand(6074h)

torque_actual_value(6077h)

current_actual_value(6078h)

DC_link_voltage(6079h)

target_torque(6071h)

torque_control_parameters(60F6h)

motor_data(6410h)

Figure 8.20: Structure of the Profile Torque Mode

The ramping is not supported. If in the controlword bit 8 (halt) is set, the current setpoint is set to zero. Additional the setpoint target_torque is set to max_torque if bit 8 is cleared.

All definitions within this document refer to rotatable motors. If linear motors are used all "torque"-objects correspond to "force" instead. For reasons of simplicity the objects do not exist twice and their names should not be modified. The operating modes Profile Position Mode and Profile Velocity Mode need the torque controller to work properly. Therefore it is always necessary to parametrize the torque controller.


Seite 132



Index Object Name Type Attr. 6071h VAR target_torque INT16 rw 6072h VAR max_torque UINT16 rw 6074h VAR torque_demand_value INT16 ro 6076h VAR motor_rated_torque UINT32 rw 6077h VAR torque_actual_value INT16 ro 6078h VAR current_actual_value INT16 ro 6079h VAR DC_link_circuit_voltage UINT32 ro 60F6h RECORD torque_control_parameters rw


Index Object Name Type Chapter 6040h VAR controlword INT16 7 Device control 6010h RECORD motor_data UINT32 6.4 Current control and motor

adaptation6075h VAR motor_rated_current UINT32 6.4 Current control and motor

adaptation6073h VAR max_current UINT16 6.4 Current control and motor

adaptation

8.6.2.3 Object 6071h: target_torque

This parameter is the input value for the torque controller in Profile Torque Mode. It is specified as thousandths of the nominal torque (object 6076h).

Index 6071h

Name

target_torque


Access rw PDO Mapping yes Units motor_rated_torque / 1000 Value Range -32768...32768

Default Value 0


Seite 133

8.6.2.4 Object 6072h: max_torque

This value is the maximum permissible value of the motor. It is specified as thousandths of motor_rated_torque (object 6076h). If for example a double overload of the motor is permissible for a short while the value 2000 has to be entered.

The Object 6072h: max_torque corresponds with object 6073h: max_current. You are only allowed to write to one of these objects, once the object 6075h: motor_rated_current has been parametrized with a valid value.

Index 6072h

Name max_torqueObject Code VAR Data Type UINT16

Access rw PDO Mapping yes Units motor_rated_torque / 1000 Value Range 1000...65536

Default Value 1968

8.6.2.5 Object 6074h: torque_demand_value

The current demand torque can be read in thousandths of motor_rated_torque (6076h) via this object. The internal limitations of the servo controller will be considered (current limit values and I²t control).

Index 6074h

Name torque_demand_value


Access ro PDO Mapping yes Units motor_rated_torque / 1000 Value Range --

Default Value

--


Seite 134

8.6.2.6 Object 6076h: motor_rated_torque

This object specifies the nominal torque of the motor. This value can be taken from the motor plate. It has to be entered by the unit 0.001 Nm.

8.6.2.7 Object 6077h: torque_actual_value

The actual current value of the motor can be read via this object in thousandths of the nominal current (object 6075h). Index 6078h

Name current_actual_valueObject Code VAR

Data Type INT16

Access ro PDO Mapping yes Units motor_rated_current / 1000 Value Range --

Default Value --

Index 6076h

Name motor_rated_torqueObject Code VAR

UINT32

Data Type

Access rw PDO Mapping yes Units 0.001 Nm Value Range --

Default Value 2870


Seite 135

8.6.2.8 Object 6078h: current_actual_value

The actual current value of the motor can be read via this object in thousandths of the nominal current (object 6075h). Index 6078h

Name current_actual_valueObject Code VAR Data Type INT16

Access ro PDO Mapping yes Units motor_rated_current / 1000 Value Range -- Default Value --

8.6.2.9 Object 6079h: dc_link_circuit_voltage

The voltage in the intermediate circuit of the regulator can be read via this object. The voltage is specified in millivolt. Index 6079h

Name dc_link_circuit_voltageObject Code VAR Data Type UINT32

Access ro PDO Mapping yes Units mV Value Range -- Default Value --


Seite 136 Keyword index

9 Keyword index

A D

acceleration_factor ...................................................... 54 dc_link_circuit_voltage .............................................135

Actual value Demand value

Position (position_units) ........................................ 72 Position (position_units).........................................72

actual_size................................................................. 119 Device Control.............................................................83

Analogue inputs .......................................................... 76 digital_inputs ...............................................................76

digital_outputs .............................................................77

B digital_outputs_data.....................................................77

digital_outputs_mask ...................................................77

divisor Bootup......................................................................... 40 acceleration_factor .................................................54 buffer_clear ............................................................... 120 position_factor........................................................50 buffer_organisation ................................................... 119 velocity_encoder_factor .........................................52 buffer_position .......................................................... 120 drive_data ..............................................................58, 78

drive_type ....................................................................82

C E

Cabling........................................................................ 20

cabling hints ................................................................ 21 EMERGENCY.............................................................37 cob_id_sync ................................................................ 36 EMERGENCY message cob_id_used_by_pdo................................................... 32 Structure of an ........................................................37 Control of the device................................................... 83 enable_logic.................................................................58 control_effort .............................................................. 74 Enabling the device......................................................83 controlword ................................................................. 88 encoder_offset_angle ...................................................62

Bits of the............................................................... 88 end_velocity...............................................................110 Commands ............................................................ 89 Endstop ......................................................................105 Description............................................................. 88 Error

Conversion factors ...................................................... 48 Error of servo controller .........................................37 Sign......................................................................... 56 SDO-Error messages ..............................................27

Current controller ........................................................ 58 Error Control Protocol Parameters.............................................................. 64 Bootup ....................................................................40

current_actual_value ................................................. 135 Heartbeat ................................................................40 current_limitation........................................................ 63 Error message ..............................................................37


Keyword index Seite 137

F

Factor Group ............................................................... 48

acceleration_factor................................................. 54

polarity .................................................................... 56

position_factor ....................................................... 50

velocity_encoder_factor......................................... 52

Fault ............................................................................ 86

Fault Reaction Active.................................................. 86

firmware_custom_version ........................................... 82

firmware_main_version .............................................. 82

first_mapped_object .................................................... 33

Following error ........................................................... 67

following_error_time_out ........................................... 73

following_error_window............................................. 73

fourth_mapped_object................................................. 33

H

Heartbeat ..................................................................... 40

home_offset................................................................. 99

Homing mode.............................................................. 98

home_offset ........................................................... 99

homing_acceleration ............................................ 102

homing_method ................................................... 100

homing_speeds..................................................... 101

Speed during search for switch ............................ 101

Speed during search for zero................................ 101

Homing operation........................................................ 98

Control of the ..................................................... 106

Homing switches........................................................ 78

homing_acceleration ................................................. 102

homing_method......................................................... 100

homing_speeds.......................................................... 101

I

Identifier

NMT service .......................................................... 41

identity_object............................................................. 80

iit_ratio_motor ............................................................ 61

iit_time_motor............................................................. 61

inhibit_time ................................................................. 32

Inputs

Analogue ................................................................76

interpolation_data_configuration ...............................119

interpolation_data_record ..........................................117

interpolation_submode_select....................................116

interpolation_time_period..........................................118

Interpolation-Type .....................................................116

ip_data_controlword ..................................................117

ip_data_position.........................................................117

ip_time_index ............................................................118

ip_time_units .............................................................118

L

Limit switch .......................................................103, 104

Limit switches.............................................................78

limit_current ................................................................63

limit_current_input_channel ........................................63

limit_switch_deceleration ............................................79

limit_switch_polarity ...................................................78

Load and save parameter sets ......................................44

M

Max. current.................................................................60

max_buffer_size.........................................................119

max_current .................................................................60

max_motor_speed......................................................128

max_torque ................................................................133

Mode of operation

Profile Position Mode...........................................107

Profile Torque Mode ............................................131

Profile Velocity Mode ..........................................124

modes_of_operation.....................................................96

modes_of_operation_display .......................................97

motion_profile_type...................................................112

Motor adaptation..........................................................58

Motor parameter

iit time ....................................................................61

Max. current ...........................................................60

Number of poles .....................................................60

Phase order .............................................................62

Rated current ..........................................................59

Resolver offset angle ..............................................62



motor_data .................................................................. 62

motor_rated_current .................................................... 59

N

NMT service ............................................................... 41

Not Ready to Switch On ............................................. 86

Number of poles.......................................................... 60

number_of_mapped_objects ....................................... 33

numerator

acceleration_factor................................................. 54

position_factor ....................................................... 50

velocity_encoder_factor......................................... 52

O

Object

Object 6093h .......................................................... 50

Object 6093h_01h ................................................... 50

Object 6093h_02h ................................................... 50

Objects

Object 1003h_01h ................................................... 39

Object 1003h_02h ................................................... 39

Object 1003h_03h ................................................... 39

Object 1003h_04h ................................................... 39

Object 1005h .......................................................... 36

Object 1010h .......................................................... 47

Object 1010h_01h ................................................... 47

Object 1011h .......................................................... 46

Object 1011h .......................................................... 46

Object 1011h_01h ................................................... 46

Object 1017h .......................................................... 41

Object 1018h .......................................................... 80

Object 1018h_01h ................................................... 80

Object 1018h_02h ................................................... 81

Object 1018h_03h ................................................... 81

Object 1018h_04h ................................................... 81

Object 1400h.......................................................... 35

Object 1401h .......................................................... 35

Object 1600h.......................................................... 35

Object 1601h .......................................................... 35

Object 1800h.................................................... 32, 34

Object 1800h_01h ................................................... 32

Object 1800h_02h ................................................... 32

Object 1800h_03h....................................................32

Object 1801h ..........................................................34

Object 1A00h....................................................33, 34

Object 1A00h_00h ...................................................33

Object 1A00h_01h ...................................................33

Object 1A00h_02h ...................................................33

Object 1A00h_03h ...................................................33

Object 1A00h_04h ...................................................33

Object 1A01h..........................................................34

Object 2014h ...........................................................35

Object 2015h ...........................................................35

Object 2415h ...........................................................63

Object 2415h_01h....................................................63

Object 2415h_02h....................................................63

Object 6040h ...........................................................88

Object 6040h ...........................................................88

Object 6041h ...........................................................92

Object 604Dh ..........................................................60

Object 6060h ...........................................................96

Object 6061h ...........................................................97

Object 6062h ...........................................................72

Object 6062h ...........................................................72

Object 6064h ...........................................................72

Object 6065h ...........................................................73

Object 6066h ...........................................................73

Object 6067h ...........................................................74

Object 6068h ...........................................................75

Object 6069h .........................................................126

Object 606Bh ........................................................127

Object 606Ch ........................................................127

Object 6071h .........................................................132

Object 6072h .........................................................133

Object 6073h ...........................................................60

Object 6074h .........................................................133

Object 6075h ...........................................................59

Object 6077h .........................................................134

Object 6078h .........................................................135

Object 6079h .........................................................135

Object 607Ah ........................................................109

Object 607Ch ..........................................................99

Object 607Eh .............................................................56

Object 6080h .........................................................128

Object 6081h .........................................................110

Object 6082h .........................................................110

Object 6083h .........................................................111



Object 6084h ........................................................ 111

Object 6085h ........................................................ 112

Object 6086h ........................................................ 112

Object 6094h .......................................................... 52

Object 6094h_01h ................................................... 52

Object 6094h_02h ................................................... 52

Object 6097h .......................................................... 54

Object 6097h_01h ................................................... 54

Object 6097h_02h ................................................... 54

Object 6098h ........................................................ 100

Object 6099h ........................................................ 101

Object 6099h_01h ................................................. 101

Object 6099h_02h ................................................. 101

Object 609Ah........................................................ 102

Object 60C0h........................................................ 116

Object 60C1h........................................................ 117

Object 60C1h_01h ................................................ 117

Object 60C1h_02h ................................................ 117

Object 60C2h........................................................ 118

Object 60C2h_01h ................................................ 118

Object 60C2h_02h ................................................ 118

Object 60C4h........................................................ 119

Object 60C4h_01h ................................................ 119

Object 60C4h_02h ................................................ 119

Object 60C4h_03h ................................................ 119

Object 60C4h_04h ................................................ 120

Object 60C4h_05h ................................................ 120

Object 60C4h_06h ................................................ 120

Object 60F6h .......................................................... 64

Object 60F6h_02h ................................................... 64

Object 60F9h .......................................................... 66

Object 60F9h_01h ................................................... 66

Object 60F9h_02h ................................................... 66

Object 60F9h_04h ................................................... 66

Object 60FAh ......................................................... 74

Object 60FBh.......................................................... 71

Object 60FBh_01h .................................................. 71

Object 60FBh_02h .................................................. 71

Object 60FBh_05h .................................................. 71

Object 60FDh ......................................................... 76

Object 60FEh.......................................................... 77

Object 60FEh_01h .................................................. 77

Object 60FEh_02h .................................................. 77

Object 60FFh ........................................................ 128

Object 6410h .......................................................... 62

Object 6410h_03h....................................................61

Object 6410h_03h....................................................61

Object 6410h_04h....................................................61

Object 6410h_10h....................................................62

Object 6410h_10h....................................................62

Object 6410h_11h....................................................62

Object 6410h_11h....................................................62

Object 6510h .....................................................58, 78

Object 6510h_10h....................................................58

Object 6510h_10h....................................................58

Object 6510h_11h....................................................78

Object 6510h_11h....................................................78

Object 6510h_15h....................................................79

Object 6510h_A1h ...................................................82

Object 6510h_A9h ...................................................82

Object 6510h_AAh ..................................................82

Objekte

Objekt 2090h_02h..................................................130

Objekt 2090h_03...................................................130

Objekt 2090h_04...................................................130

Objekt 2090h_05...................................................130

Operating Mode

Homing mode .........................................................98

Parameterisation of the ...........................................95

Position control.....................................................107

Torque control ......................................................131

Velocity control ....................................................124

Operation enable ..........................................................86

Overspeed protection ...................................................65

P

Parameter

Load default parameter...........................................46

Parameter adjustment...................................................44

PDO .............................................................................28

RPDO1

COB-ID used by PDO.......................................35

first mapped object ............................................35

fourth mapped object.........................................35

Identifier............................................................35

number of mapped objects ................................35

second mapped object .......................................35

third mapped object ...........................................35



transmission type .............................................. 35 position_control_parameter_set ...................................71

RPDO2 position_control_time ..................................................71

COB-ID used by PDO ...................................... 35 position_demand_value ...............................................72

first mapped object ........................................... 35 position_error_tolerance_window ...............................71

fourth mapped object ........................................ 35 position_factor .............................................................50

Identifier ........................................................... 35 position_window..........................................................74

number of mapped objects................................ 35 position_window_time.................................................75

second mapped object....................................... 35 Positioning .................................................................107

third mapped object .......................................... 35 Power stage parameters................................................57

transmission type .............................................. 35 producer_heartbeat_time..............................................41

TPDO1 product_code................................................................81

COB-ID used by PDO ...................................... 34 Profile Position Mode ................................................107

first mapped object ........................................... 34 end_velocity .........................................................110

fourth mapped object ........................................ 34 motion_profile_type .............................................112

Identifier ........................................................... 34 profile_acceleration ..............................................111

inhibit time........................................................ 34 profile_deceleration..............................................111

number of mapped objects................................ 34 profile_velocity ....................................................110

second mapped object....................................... 34 quick_stop_deceleration .......................................112

third mapped object .......................................... 34 target_position ......................................................109

transmission type .............................................. 34 Profile Torque Mode..................................................131

TPDO2 current_actual_value.............................................135

COB-ID used by PDO ...................................... 34 dc_link_circuit_voltage ........................................135

first mapped object ........................................... 34 max_torque ...........................................................133

fourth mapped object ........................................ 34 target_torque.........................................................132

Identifier ........................................................... 34 torque_actual_value..............................................134

inhibit time........................................................ 34 torque_demand_value...........................................133

number of mapped objects................................ 34 Profile Velocity Mode ...............................................124

second mapped object....................................... 34 max_motor_speed.................................................128

third mapped object .......................................... 34 target_velocity ......................................................128

transmission type .............................................. 34 velocity_actual_value ...........................................127

PDO-Message ............................................................. 28 velocity_demand_value ........................................127

phase_order ................................................................. 62 velocity_sensor .....................................................126

polarity.......................................................................... 56 profile_acceleration ...................................................111

pole_number................................................................ 60 profile_deceleration ...................................................111

Position control ......................................................... 107 profile_velocity..........................................................110

position control function ............................................. 67

Q Position controller ....................................................... 67

Gain ....................................................................... 71

Max. correction speed............................................ 71 Quick Stop Active........................................................86 Output of ................................................................ 74 quick_stop_deceleration ............................................112 Time constant......................................................... 71

Tolerance window.................................................. 71

R Position reached .......................................................... 68

position_actual_value.................................................. 72

position_control_gain.................................................. 71 Rated current................................................................59



Ready to Switch On .................................................... 86 Bits of the.................................................................92

Receive_PDO_1.......................................................... 35 Description .............................................................92

Receive_PDO_2.......................................................... 35 store_parameters ..........................................................47

Reference switch........................................................ 78 Switch On Disabled .....................................................86

Referenzfahrt Methoden............................................ 103 Switched On.................................................................86

SYNC............................................................................36 resolver_offset_angle .................................................. 62

SYNC-Message ..............................................................36 restore_all_default_parameters ................................... 46

restore_default_parameters ......................................... 46

T restore_parameters ...................................................... 46

revision_number.......................................................... 81

R-PDO 1...................................................................... 35 Target position R-PDO 2...................................................................... 35

Time .......................................................................75

Target position window ...............................................74 S target_position ...........................................................109

target_reached..............................................................68

save_all_parameters .................................................... 47 target_torque ......................................................131, 132

Scaling factors............................................................. 48 target_velocity ...........................................................128

Sign......................................................................... 56 third_mapped_object ...................................................33

SDO............................................................................. 25 Torque control ...........................................................131

Error messages....................................................... 27 Max. torque ..........................................................133

SDO-Message ............................................................. 25 Torque limitation

second_mapped_object ............................................... 33 Demand value.........................................................63

serial_number.............................................................. 81 Scaling ....................................................................63

Setpoint Torque limitation

Position (position_units) ........................................ 72 Source.....................................................................63

Velocity (speed_units) ......................................... 127 Torque limited speed control .......................................63

size_of_data_record .................................................. 120 torque_actual_value ...................................................134

Speed controller .......................................................... 65 torque_control_parameters ..........................................64

standard_error_field_0 ................................................ 39 torque_control_time.....................................................64

standard_error_field_1 ................................................ 39 torque_demand_value ................................................133

standard_error_field_2 ................................................ 39 T-PDO 1 ......................................................................34

standard_error_field_3 ................................................ 39 T-PDO 2 ......................................................................34

State tpdo_1_transmit_mask.................................................35

Fault ....................................................................... 86 tpdo_2_transmit_mask.................................................35

Fault Reaction Active ............................................ 86 Trailing error................................................................67

Not Ready to Switch On ........................................ 86 Trajectory generator...................................................107

Operation Enable ................................................... 86 transfer_PDO_1 ...........................................................34

Quick Stop Active.................................................. 86 transfer_PDO_2 ...........................................................34

Ready to Switch On ............................................... 86 transmission_type ........................................................32

Switch On Disabled ............................................... 86 transmit_pdo_mapping ................................................33

Switched On........................................................... 86 transmit_pdo_parameter ..............................................32

state diagram ............................................................... 84

statemachine................................................................ 84

statusword



V velocity_control_parameters........................................66

velocity_control_time ..................................................66

velocity_deceleration_neg .........................................130 Velocity control......................................................... 124

velocity_deceleration_pos .........................................130 Velocity controller ...................................................... 65

velocity_demand_value .............................................127 Filter time............................................................... 66

velocity_encoder_factor...............................................52 Gain ....................................................................... 66

velocity_sensor_actual_value ....................................126 Parameter ............................................................... 66

vendor_id .....................................................................80 Time constant......................................................... 66

velocity_acceleration_neg......................................... 130 Z velocity_acceleration_pos ......................................... 130

velocity_actual_value................................................ 127

velocity_control_filter_time........................................ 66 Zero impulse ..............................................................106 velocity_control_gain.................................................. 66


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CANopen Manual - Motor Power · CANopen Manual Servo positioning controller DIS-2 Metronix Meßgeräte und Elektronik GmbH Phone: +49-(0)531-8668-0 Kocherstraße 3 Fax: +49-(0)531-8668-555